Towards Green CI

.gitignore

@@ -15,3 +15,8 @@ build_*
 
 # clangd index
 .cache
+
+
+# Python cache
+__pycache__
+*.pyc

python/CMakeLists.txt

@@ -28,6 +28,7 @@ else()
  set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
 endif()
 
+set(GZ_PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
 set(GZ_PYTHON_INSTALL_PATH "${GZ_PYTHON_INSTALL_PATH}/gz")
 
 # Set the build location and install location for a CPython extension
@@ -88,7 +89,7 @@ if (BUILD_TESTING)
  testFixture_TEST
  )
 
- execute_process(COMMAND "${PYTHON_EXECUTABLE}" -m pytest --version
+ execute_process(COMMAND "${GZ_PYTHON_EXECUTABLE}" -m pytest --version
  OUTPUT_VARIABLE PYTEST_output
  ERROR_VARIABLE PYTEST_error
  RESULT_VARIABLE PYTEST_result)
@@ -101,17 +102,17 @@ if (BUILD_TESTING)
 
  foreach (test ${python_tests})
  if (pytest_FOUND)
- add_test(NAME ${test}.py COMMAND
- "${PYTHON_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
+ add_test(NAME ${test} COMMAND
+ "${GZ_PYTHON_EXECUTABLE}" -m pytest "${CMAKE_SOURCE_DIR}/python/test/${test}.py" --junitxml "${CMAKE_BINARY_DIR}/test_results/UNIT_${test}.xml")
  else()
- add_test(NAME ${test}.py COMMAND
- "${PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
+ add_test(NAME ${test} COMMAND
+ "${GZ_PYTHON_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
  endif()
 
  set(_env_vars)
  list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/")
  list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:$ENV{LD_LIBRARY_PATH}")
- set_tests_properties(${test}.py PROPERTIES
+ set_tests_properties(${test} PROPERTIES
  ENVIRONMENT "${_env_vars}")
  endforeach()
 endif()

src/Conversions_TEST.cc

@@ -1032,9 +1032,10 @@ TEST(Conversions, ParticleEmitter)
  EXPECT_NEAR(0.2, emitterMsg.max_velocity().data(), 1e-3);
  EXPECT_EQ(math::Vector3d(1, 2, 3), msgs::Convert(emitterMsg.size()));
  EXPECT_EQ(math::Vector3d(4, 5, 6), msgs::Convert(emitterMsg.particle_size()));
- EXPECT_EQ(math::Color(0.1, 0.2, 0.3),
+ EXPECT_EQ(math::Color(0.1f, 0.2f, 0.3f),
  msgs::Convert(emitterMsg.color_start()));
- EXPECT_EQ(math::Color(0.4, 0.5, 0.6), msgs::Convert(emitterMsg.color_end()));
+ EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f),
+ msgs::Convert(emitterMsg.color_end()));
  EXPECT_EQ("range_image", emitterMsg.color_range_image().data());
 
  auto header = emitterMsg.header().data(0);

src/SdfGenerator_TEST.cc

@@ -348,7 +348,7 @@ class ModelElementFixture : public ElementUpdateFixture
 /////////////////////////////////////////////////
 TEST_F(ModelElementFixture, ModelsInline)
 {
- this->LoadWorld("test/worlds/shapes.sdf");
+ this->LoadWorld(common::joinPaths("test", "worlds", "shapes.sdf"));
  this->TestModel("box");
  this->TestModel("capsule");
  this->TestModel("cylinder");
@@ -359,15 +359,15 @@ TEST_F(ModelElementFixture, ModelsInline)
 /////////////////////////////////////////////////
 TEST_F(ModelElementFixture, ModelIncluded)
 {
- this->LoadWorld("test/worlds/save_world.sdf");
+ this->LoadWorld(common::joinPaths("test", "worlds", "save_world.sdf"));
  this->TestModel("backpack1");
  this->TestModel("backpack2");
 }
 
 /////////////////////////////////////////////////
 TEST_F(ModelElementFixture, ModelComponentUpdate)
 {
- this->LoadWorld("test/worlds/shapes.sdf");
+ this->LoadWorld(common::joinPaths("test", "worlds", "shapes.sdf"));
  std::string modelName = "box";
  Entity modelEntity = this->ecm.EntityByComponents(
  components::Model(), components::Name(modelName));
@@ -461,8 +461,7 @@ TEST_F(ElementUpdateFixture, ConfigOverrideCopyOrMerge)
 /////////////////////////////////////////////////
 TEST_F(ElementUpdateFixture, ConfigOverride)
 {
- const std::string worldFile{"test/worlds/save_world.sdf"};
- this->LoadWorld(worldFile);
+ this->LoadWorld(common::joinPaths("test", "worlds", "save_world.sdf"));
  Entity worldEntity = this->ecm.EntityByComponents(components::World());
  {
  this->sdfGenConfig.mutable_global_entity_gen_config()
@@ -522,8 +521,7 @@ TEST_F(ElementUpdateFixture, ConfigOverride)
 /////////////////////////////////////////////////
 TEST_F(ElementUpdateFixture, WorldWithModelsInline)
 {
- const std::string worldFile{"test/worlds/shapes.sdf"};
- this->LoadWorld(worldFile);
+ this->LoadWorld(common::joinPaths("test", "worlds", "shapes.sdf"));
  Entity worldEntity = this->ecm.EntityByComponents(components::World());
  auto elem = std::make_shared<sdf::Element>();
  sdf::initFile("world.sdf", elem);
@@ -535,7 +533,7 @@ TEST_F(ElementUpdateFixture, WorldWithModelsInline)
 /////////////////////////////////////////////////
 TEST_F(ElementUpdateFixture, WorldWithModelsIncludedExpanded)
 {
- this->LoadWorld("test/worlds/save_world.sdf");
+ this->LoadWorld(common::joinPaths("test", "worlds", "save_world.sdf"));
  Entity worldEntity = this->ecm.EntityByComponents(components::World());
  auto elem = std::make_shared<sdf::Element>();
  sdf::initFile("world.sdf", elem);
@@ -586,7 +584,7 @@ TEST_F(ElementUpdateFixture, WorldComponentUpdate)
 /////////////////////////////////////////////////
 TEST_F(ElementUpdateFixture, WorldWithModelsIncludedNotExpanded)
 {
- const std::string worldFile{"test/worlds/save_world.sdf"};
+ const auto worldFile = common::joinPaths("test", "worlds", "save_world.sdf");
  this->LoadWorld(worldFile);
  Entity worldEntity = this->ecm.EntityByComponents(components::World());
  auto elem = std::make_shared<sdf::Element>();
@@ -644,17 +642,17 @@ TEST_F(ElementUpdateFixture, WorldWithModelsIncludedNotExpanded)
 TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithInvalidUris)
 {
  const std::string goodUri =
- "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2";
+ "https://fuel.gazebosim.org/1.0/openroboticstest/models/backpack/2";
 
  // These are URIs that are potentially problematic.
  const std::vector<std::string> fuelUris = {
  // Thes following two URIs are valid, but have a trailing '/'
- "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/",
- "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2/",
+ "https://fuel.gazebosim.org/1.0/openroboticstest/models/backpack/",
+ "https://fuel.gazebosim.org/1.0/openroboticstest/models/backpack/2/",
  // Thes following two URIs are invalid, and will not be saved
- "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/"
+ "https://fuel.gazebosim.org/1.0/openroboticstest/models/backpack/"
  "notInt",
- "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/"
+ "https://fuel.gazebosim.org/1.0/openroboticstest/models/backpack/"
  "notInt/",
  };
 
@@ -709,7 +707,7 @@ TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithInvalidUris)
 TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithNonFuelUris)
 {
  const std::vector<std::string> includeUris = {
- "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack",
+ "https://fuel.gazebosim.org/1.0/openroboticstest/models/backpack",
  std::string("file://") + PROJECT_SOURCE_PATH +
  "/test/worlds/models/sphere"};
 
@@ -768,7 +766,7 @@ TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithNonFuelUris)
 /////////////////////////////////////////////////
 TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithOneExpanded)
 {
- const std::string worldFile{"test/worlds/save_world.sdf"};
+ const auto worldFile = common::joinPaths("test", "worlds", "save_world.sdf");
  this->LoadWorld(worldFile);
  Entity worldEntity = this->ecm.EntityByComponents(components::World());
  auto elem = std::make_shared<sdf::Element>();
@@ -947,8 +945,7 @@ using GenerateWorldFixture = ElementUpdateFixture;
 /////////////////////////////////////////////////
 TEST_F(GenerateWorldFixture, ModelsInline)
 {
- const std::string worldFile{"test/worlds/save_world.sdf"};
- this->LoadWorld(worldFile);
+ this->LoadWorld(common::joinPaths("test", "worlds", "save_world.sdf"));
  Entity worldEntity = this->ecm.EntityByComponents(components::World());
  // Check with expandIncludeTags = true
  {

src/Server.cc

@@ -202,7 +202,7 @@ bool Server::Run(const bool _blocking, const uint64_t _iterations,
  // running variable gets updated before this function returns. With
  // a small number of iterations it is possible that the run thread
  // successfuly completes before this function returns.
- cond.wait(lock);
+ cond.wait(lock, [this]() -> bool {return this->dataPtr->running;});
  return true;
  }
 

src/ServerPrivate.cc

@@ -227,9 +227,8 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config)
  {
  auto topic = recordTopicElem->Get<std::string>();
  sdfRecordTopics.push_back(topic);
+ recordTopicElem = recordTopicElem->GetNextElement();
  }
-
- recordTopicElem = recordTopicElem->GetNextElement();
  }
 
  // Remove the plugin, which will be added back in by ServerConfig.

src/Server_TEST.cc

@@ -1217,14 +1217,31 @@ TEST_P(ServerFixture, Stop)
 
  sim::Server server(serverConfig);
 
+ std::mutex testMutex;
+ std::condition_variable testCv;
+ test::Relay testSystem;
+ unsigned int preUpdates{0};
+ testSystem.OnPreUpdate(
+ [&](const sim::UpdateInfo &,
+ sim::EntityComponentManager &)
+ {
+ std::scoped_lock localLock(testMutex);
+ ++preUpdates;
+ testCv.notify_one();
+ return true;
+ });
+
+ server.AddSystem(testSystem.systemPtr);
  // The simulation runner should not be running.
  EXPECT_FALSE(*server.Running(0));
  EXPECT_FALSE(server.Running());
 
  // Run the server.
+ std::unique_lock<std::mutex> testLock(testMutex);
  EXPECT_TRUE(server.Run(false, 0, false));
- EXPECT_TRUE(*server.Running(0));
  EXPECT_TRUE(server.Running());
+ testCv.wait(testLock, [&]() -> bool {return preUpdates > 0;});
+ EXPECT_TRUE(*server.Running(0));
 
  // Stop the server
  server.Stop();

src/SimulationRunner.cc

@@ -502,7 +502,8 @@ void SimulationRunner::ProcessSystemQueue()
 
  this->systemMgr->ActivatePendingSystems();
 
- auto threadCount = this->systemMgr->SystemsPostUpdate().size() + 1u;
+ unsigned int threadCount =
+ static_cast<unsigned int>(this->systemMgr->SystemsPostUpdate().size() + 1u);
 
  gzdbg << "Creating PostUpdate worker threads: "
  << threadCount << std::endl;

src/gz_TEST.cc

@@ -101,7 +101,7 @@ TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(CachedFuelWorld))
  std::string projectPath = std::string(PROJECT_SOURCE_PATH) + "/test/worlds";
  gz::common::setenv("GZ_FUEL_CACHE_PATH", projectPath.c_str());
  std::string cmd = kGzCommand + " -r -v 4 --iterations 5" +
- " https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world";
+ " https://fuel.gazebosim.org/1.0/openroboticstest/worlds/test%20world";
  std::cout << "Running command [" << cmd << "]" << std::endl;
 
  std::string output = customExecStr(cmd);

src/systems/acoustic_comms/AcousticComms.cc

@@ -57,10 +57,10 @@ AcousticComms::AcousticComms()
 
 //////////////////////////////////////////////////
 void AcousticComms::Load(
- const Entity &_entity,
+ const Entity &/*_entity*/,
  std::shared_ptr<const sdf::Element> _sdf,
- EntityComponentManager &_ecm,
- EventManager &_eventMgr)
+ EntityComponentManager &/*_ecm*/,
+ EventManager &/*_eventMgr*/)
 {
  if (_sdf->HasElement("max_range"))
  {

src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc

@@ -767,8 +767,7 @@ void OpticalTactilePluginPrivate::ComputeNormalForces(
  normalsMsg.set_step(3 * sizeof(float) * _msg.width());
  normalsMsg.set_pixel_format_type(gz::msgs::PixelFormatType::R_FLOAT32);
 
- uint32_t bufferSize = 3 * sizeof(float) * _msg.width() * _msg.height();
- std::shared_ptr<char> normalForcesBuffer(new char[bufferSize]);
+ std::vector<float> normalForcesBuffer(3 * _msg.width() * _msg.height());
  uint32_t bufferIndex;
 
  // Marker messages representing the normal forces
@@ -804,11 +803,10 @@ void OpticalTactilePluginPrivate::ComputeNormalForces(
  // Add force to buffer
  // Forces buffer is composed of XYZ coordinates, while _msg buffer is
  // made up of XYZRGB values
- bufferIndex = j * (_msg.row_step() / 2) + i * (_msg.point_step() / 2);
- normalForcesBuffer.get()[bufferIndex] = normalForce.X();
- normalForcesBuffer.get()[bufferIndex + sizeof(float)] = normalForce.Y();
- normalForcesBuffer.get()[bufferIndex + 2 * sizeof(float)] =
- normalForce.Z();
+ bufferIndex = j * (_msg.width() * 3) + i * 3;
+ normalForcesBuffer[bufferIndex] = normalForce.X();
+ normalForcesBuffer[bufferIndex+1] = normalForce.Y();
+ normalForcesBuffer[bufferIndex+2] = normalForce.Z();
 
  if (!_visualizeForces)
  continue;
@@ -820,9 +818,10 @@ void OpticalTactilePluginPrivate::ComputeNormalForces(
  }
  }
 
+ std::string *dataStr = normalsMsg.mutable_data();
+ dataStr->resize(sizeof(float) * normalForcesBuffer.size());
+ memcpy(&((*dataStr)[0]), normalForcesBuffer.data(), dataStr->size());
  // Publish message
- normalsMsg.set_data(normalForcesBuffer.get(),
- 3 * sizeof(float) * _msg.width() * _msg.height());
  this->normalForcesPub.Publish(normalsMsg);
 
  if (_visualizeForces)

src/systems/rf_comms/RFComms.cc

@@ -257,7 +257,8 @@ std::tuple<bool, double> RFComms::Implementation::AttemptSend(
 
  // Compute prospective accumulated bits along with time window
  // (including this packet).
- double bitsSent = (_txState.bytesSentThisEpoch + _numBytes) * 8;
+ auto bitsSent =
+ static_cast<double>((_txState.bytesSentThisEpoch + _numBytes) * 8);
 
  // Check current epoch bitrate vs capacity and fail to send accordingly
  if (bitsSent > this->radioConfig.capacity * this->epochDuration)
@@ -286,8 +287,9 @@ std::tuple<bool, double> RFComms::Implementation::AttemptSend(
  // error rate (BER).
  double ber = this->QPSKPowerToBER(
  this->DbmToPow(rxPower), this->DbmToPow(this->radioConfig.noiseFloor));
+ double packetDropProb =
 
- double packetDropProb = 1.0 - exp(_numBytes * log(1 - ber));
+  1.0 - exp(static_cast<double>(_numBytes) * log(1 - ber));
 
  // gzdbg << "TX power (dBm): " << this->radioConfig.txPower << "\n" <<
  // "RX power (dBm): " << rxPower << "\n" <<
@@ -315,7 +317,8 @@ std::tuple<bool, double> RFComms::Implementation::AttemptSend(
 
  // Compute prospective accumulated bits along with time window
  // (including this packet).
- double bitsReceived = (_rxState.bytesReceivedThisEpoch + _numBytes) * 8;
+ auto bitsReceived =
+ static_cast<double>((_rxState.bytesReceivedThisEpoch + _numBytes) * 8);
 
  // Check current epoch bitrate vs capacity and fail to send accordingly.
  if (bitsReceived > this->radioConfig.capacity * this->epochDuration)

src/systems/shader_param/ShaderParam.cc

@@ -441,7 +441,7 @@ void ShaderParamPrivate::OnUpdate()
  if (!spv.type.empty() && spv.type == "int_array")
  {
  for (const auto &v : values)
- floatArrayValue.push_back(std::stoi(v));
+ floatArrayValue.push_back(std::stof(v));
  paramType = rendering::ShaderParam::PARAM_INT_BUFFER;
  }
  // treat everything else as float_array

src/systems/track_controller/TrackController.cc

@@ -533,7 +533,7 @@ void TrackControllerPrivate::ComputeSurfaceProperties(
  gz::msgs::Set(this->debugMarker.mutable_pose(), math::Pose3d(
  p.X(), p.Y(), p.Z(), rot.Roll(), rot.Pitch(), rot.Yaw()));
  this->debugMarker.mutable_material()->mutable_diffuse()->set_r(
- surfaceMotion >= 0 ? 0 : 1);
+ surfaceMotion >= 0 ? 0.0f : 1.0f);
 
  this->node.Request("/marker", this->debugMarker);
  }

src/systems/trajectory_follower/TrajectoryFollower.cc

@@ -421,7 +421,7 @@ void TrajectoryFollower::PreUpdate(
  }
  }
 
- int sign = std::abs(bearing.Degree()) / bearing.Degree();
+ int sign = static_cast<int>(std::abs(bearing.Degree()) / bearing.Degree());
  torqueWorld = (*comPose).Rot().RotateVector(
  gz::math::Vector3d(0, 0, sign * this->dataPtr->torqueToApply));
  }