Add system to an entity through Component Inspector

include/ignition/gazebo/Conversions.hh

@@ -27,6 +27,8 @@
 #include <ignition/msgs/light.pb.h>
 #include <ignition/msgs/material.pb.h>
 #include <ignition/msgs/particle_emitter.pb.h>
+#include <ignition/msgs/plugin.pb.h>
+#include <ignition/msgs/plugin_v.pb.h>
 #include <ignition/msgs/physics.pb.h>
 #include <ignition/msgs/scene.pb.h>
 #include <ignition/msgs/sensor.pb.h>
@@ -742,6 +744,54 @@ namespace ignition
  /// \return Plugin message.
  template<>
  msgs::Plugin convert(const sdf::Plugin &_in);
+
+ /// \brief Generic conversion from an SDF plugins to another type.
+ /// \param[in] _in SDF plugins.
+ /// \return Conversion result.
+ /// \tparam Out Output type.
+ template<class Out>
+ Out convert(const sdf::Plugins &/*_in*/)
+ {
+ Out::ConversionNotImplemented;
+ }
+
+ /// \brief Specialized conversion from an SDF plugins to a plugin_v message.
+ /// \param[in] _in SDF plugins.
+ /// \return Plugin_V message.
+ template<>
+ msgs::Plugin_V convert(const sdf::Plugins &_in);
+
+ /// \brief Generic conversion from a msgs::Plugin to another type.
+ /// \param[in] _in msgs::Plugin.
+ /// \return Conversion result.
+ /// \tparam Out Output type.
+ template<class Out>
+ Out convert(const msgs::Plugin &/*_in*/)
+ {
+ Out::ConversionNotImplemented;
+ }
+
+ /// \brief Specialized conversion from a msgs::Plugin to an sdf::Plugin.
+ /// \param[in] _in msgs::Plugin.
+ /// \return sdf::Plugin.
+ template<>
+ sdf::Plugin convert(const sdf::Plugin &_in);
+
+ /// \brief Generic conversion from a msgs::Plugin_V to another type.
+ /// \param[in] _in msgs::Plugin_V.
+ /// \return Conversion result.
+ /// \tparam Out Output type.
+ template<class Out>
+ Out convert(const msgs::Plugin_V &/*_in*/)
+ {
+ Out::ConversionNotImplemented;
+ }
+
+ /// \brief Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.
+ /// \param[in] _in msgs::Plugin_V.
+ /// \return sdf::Plugins.
+ template<>
+ sdf::Plugins convert(const msgs::Plugin_V &_in);
  }
  }
 }

include/ignition/gazebo/Events.hh

@@ -18,6 +18,7 @@
 #define IGNITION_GAZEBO_EVENTS_HH_
 
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include <ignition/common/Event.hh>
 
@@ -53,11 +54,24 @@ namespace ignition
  /// \endcode
  using Stop = ignition::common::EventT<void(void), struct StopTag>;
 
- /// \brief Event used to load plugins for an entity into simulation.
+ /// \brief Please use the LoadSdfPlugins event. The LoadPlugins event
+ /// will be deprecrated in Gazebo 7 (Garden). Also make sure to
+ /// connect to only LoadSdfPlugins or LoadPlugins, and not both events.
+ ///
+ /// Event used to load plugins for an entity into simulation.
  /// Pass in the entity which will own the plugins, and an SDF element for
  /// the entity, which may contain multiple `<plugin>` tags.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  using LoadPlugins = common::EventT<void(Entity, sdf::ElementPtr),
  struct LoadPluginsTag>;
+
+ /// \brief Event used to load plugins for an entity into simulation.
+ /// Pass in the entity which will own the plugins, and an SDF element for
+ /// the entity, which may contain multiple `<plugin>` tags.
+ /// Makre sure that you don't also connect to the LoadPlugins event.
+ using LoadSdfPlugins = common::EventT<void(Entity, sdf::Plugins),
+ struct LoadPluginsTag>;
  }
  } // namespace events
  } // namespace gazebo

include/ignition/gazebo/ServerConfig.hh

@@ -24,6 +24,7 @@
 #include <string>
 #include <vector>
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 #include <sdf/Root.hh>
 #include <ignition/gazebo/config.hh>
 #include <ignition/gazebo/Export.hh>
@@ -86,12 +87,26 @@ namespace ignition
  /// \param[in] _name Name of the interface within the plugin library
  /// to load.
  /// \param[in] _sdf Plugin XML elements associated with this plugin.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: PluginInfo(const std::string &_entityName,
  const std::string &_entityType,
  const std::string &_filename,
  const std::string &_name,
  const sdf::ElementPtr &_sdf);
 
+ /// \brief Constructor with plugin information specified.
+ /// \param[in] _entityName Name of the entity which should receive
+ /// this plugin. The name is used in conjuction with _entityType to
+ /// uniquely identify an entity.
+ /// \param[in] _entityType Entity type which should receive this
+ /// plugin. The type is used in conjuction with _entityName to
+ /// uniquely identify an entity.
+ /// \param[in] _plugin SDF Plugin library information.
+ public: PluginInfo(const std::string &_entityName,
+ const std::string &_entityType,
+ const sdf::Plugin &_plugin);
+
  /// \brief Copy constructor.
  /// \param[in] _info Plugin to copy.
  public: PluginInfo(const PluginInfo &_info);
@@ -127,32 +142,56 @@ namespace ignition
 
  /// \brief Get the plugin library filename.
  /// \return Plugin library filename.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: const std::string &Filename() const;
 
  /// \brief Set the type of the entity which should receive this
  /// plugin. The type is used in conjuction with EntityName to
  /// uniquely identify an entity.
  /// \param[in] _filename Entity type string.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: void SetFilename(const std::string &_filename);
 
  /// \brief Name of the interface within the plugin library
  /// to load.
  /// \return Interface name.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: const std::string &Name() const;
 
  /// \brief Set the name of the interface within the plugin library
  /// to load.
  /// \param[in] _name Interface name.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: void SetName(const std::string &_name);
 
  /// \brief Plugin XML elements associated with this plugin.
  /// \return SDF pointer.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: const sdf::ElementPtr &Sdf() const;
 
  /// \brief Set the plugin XML elements associated with this plugin.
  /// \param[in] _sdf SDF pointer, it will be cloned.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: void SetSdf(const sdf::ElementPtr &_sdf);
 
+ /// \brief Get the SDF plugin information.
+ /// \return The SDF Plugin object.
+ public: const sdf::Plugin &Plugin() const;
+
+ /// \brief Get a mutable version of the SDF plugin information.
+ /// \return The SDF Plugin object.
+ public: sdf::Plugin &Plugin();
+
+ /// \brief Set the SDF plugin information.
+ /// \param[in] _plugin The SDF Plugin object to use.
+ public: void SetPlugin(const sdf::Plugin &_plugin) const;
+
  /// \brief Private data pointer
  private: std::unique_ptr<ServerConfig::PluginInfoPrivate> dataPtr;
  };

include/ignition/gazebo/SystemLoader.hh

@@ -22,6 +22,7 @@
 #include <string>
 
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include <ignition/gazebo/Export.hh>
 #include <ignition/gazebo/System.hh>
@@ -53,6 +54,8 @@ namespace ignition
  /// \brief Load and instantiate system plugin from an SDF element.
  /// \param[in] _sdf SDF Element describing plugin instance to be loaded.
  /// \returns Shared pointer to system instance or nullptr.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: std::optional<SystemPluginPtr> LoadPlugin(
  const sdf::ElementPtr &_sdf);
 
@@ -61,11 +64,19 @@ namespace ignition
  /// \param[in] _name Class name to be instantiated.
  /// \param[in] _sdf SDF Element describing plugin instance to be loaded.
  /// \returns Shared pointer to system instance or nullptr.
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// sdf::Plugin interface.
  public: std::optional<SystemPluginPtr> LoadPlugin(
  const std::string &_filename,
  const std::string &_name,
  const sdf::ElementPtr &_sdf);
 
+ /// \brief Load and instantiate system plugin from name/filename.
+ /// \param[in] _plugin SDF Plugin to be loaded.
+ /// \returns Shared pointer to system instance or nullptr.
+ public: std::optional<SystemPluginPtr> LoadPlugin(
+ const sdf::Plugin &_plugin);
+
  /// \brief Makes a printable string with info about systems
  /// \returns A pretty string
  public: std::string PrettyStr() const;

include/ignition/gazebo/gui/GuiEvents.hh

@@ -29,6 +29,7 @@
 #include <ignition/math/Vector3.hh>
 #include <ignition/utils/ImplPtr.hh>
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include "ignition/gazebo/gui/Export.hh"
 #include "ignition/gazebo/Entity.hh"
@@ -215,6 +216,8 @@ namespace events
  };
 
  /// \brief Event that notifies a visual plugin is to be loaded
+ /// \note This will be deprecated in Gazebo 7 (Garden), please the use
+ /// VisualPlugins class.
  class IGNITION_GAZEBO_GUI_VISIBLE VisualPlugin: public QEvent
  {
  /// \brief Constructor
@@ -235,6 +238,28 @@ namespace events
  /// \brief Private data pointer
  IGN_UTILS_IMPL_PTR(dataPtr)
  };
+
+ /// \brief Event that notifies a visual plugin is to be loaded
+ class IGNITION_GAZEBO_GUI_VISIBLE VisualPlugins: public QEvent
+ {
+ /// \brief Constructor
+ /// \param[in] _entity Visual entity id
+ /// \param[in] _plugins SDF plugin object
+ public: explicit VisualPlugins(ignition::gazebo::Entity _entity,
+ const sdf::Plugins &_plugins);
+
+ /// \brief Get the entity to load the visual plugin for
+ public: ignition::gazebo::Entity Entity() const;
+
+ /// \brief Get the SDF Plugin of the visual plugin
+ public: const sdf::Plugins &Plugins() const;
+
+ static const QEvent::Type kType = QEvent::Type(QEvent::User + 8);
+
+ /// \internal
+ /// \brief Private data pointer
+ IGN_UTILS_IMPL_PTR(dataPtr)
+ };
 } // namespace events
 }
 } // namespace gui

src/Conversions.cc

@@ -1792,3 +1792,35 @@ msgs::Plugin ignition::gazebo::convert(const sdf::Plugin &_in)
 
  return result;
 }
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+msgs::Plugin_V ignition::gazebo::convert(const sdf::Plugins &_in)
+{
+ msgs::Plugin_V result;
+ for (const sdf::Plugin &plugin : _in)
+ {
+ result.add_plugins()->CopyFrom(convert<msgs::Plugin>(plugin));
+ }
+ return result;
+}
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+sdf::Plugin ignition::gazebo::convert(const msgs::Plugin &_in)
+{
+ return sdf::Plugin(_in.filename(), _in.name(), _in.innerxml());
+}
+
+//////////////////////////////////////////////////
+template<>
+IGNITION_GAZEBO_VISIBLE
+sdf::Plugins ignition::gazebo::convert(const msgs::Plugin_V &_in)
+{
+ sdf::Plugins result;
+ for (int i = 0; i < _in.plugins_size(); ++i)
+ result.push_back(convert<sdf::Plugin>(_in.plugins(i)));
+ return result;
+}

src/LevelManager.cc

@@ -229,6 +229,8 @@ void LevelManager::ReadLevelPerformerInfo()
  this->ConfigureDefaultLevel();
 
  // Load world plugins.
+ this->runner->EventMgr().Emit<events::LoadSdfPlugins>(this->worldEntity,
+ this->runner->sdfWorld->Plugins());
  this->runner->EventMgr().Emit<events::LoadPlugins>(this->worldEntity,
  this->runner->sdfWorld->Element());