Adds support for ISystemReset in test fixture

include/gz/sim/TestFixture.hh

@@ -96,6 +96,12 @@ class GZ_SIM_VISIBLE TestFixture
  public: TestFixture &OnPostUpdate(std::function<void(
  const UpdateInfo &, const EntityComponentManager &)> _cb);
 
+ /// \brief Wrapper around a system's update callback
+ /// \param[in] _cb Function to be called every update
+ /// \return Reference to self.
+ public: TestFixture &OnReset(std::function<void(
+ const UpdateInfo &, EntityComponentManager &)> _cb);
+
  /// \brief Finalize all the functions and add fixture to server.
  /// Finalize must be called before running the server, otherwise none of the
  /// `On*` functions will be called.

python/src/gz/sim/TestFixture.cc

@@ -83,6 +83,17 @@ defineSimTestFixture(pybind11::object module)
  ),
  pybind11::return_value_policy::reference,
  "Wrapper around a system's post-update callback"
+ )
+ .def(
+ "on_reset", WrapCallbacks(
+ [](TestFixture* self, std::function<void(
+ const UpdateInfo &, EntityComponentManager &)> _cb)
+ {
+ self->OnReset(_cb);
+ }
+ ),
+ pybind11::return_value_policy::reference,
+ "Wrapper around a system's post-update callback"
  );
  // TODO(ahcorde): This method is not compiling for the following reason:
  // The EventManager class has an unordered_map which holds a unique_ptr

src/TestFixture.cc

@@ -29,7 +29,8 @@ class HelperSystem :
  public ISystemConfigure,
  public ISystemPreUpdate,
  public ISystemUpdate,
- public ISystemPostUpdate
+ public ISystemPostUpdate,
+ public ISystemReset
 {
  // Documentation inherited
  public: void Configure(
@@ -50,6 +51,10 @@ class HelperSystem :
  public: void PostUpdate(const UpdateInfo &_info,
  const EntityComponentManager &_ecm) override;
 
+ // Documentation inherited
+ public: void Reset(const UpdateInfo &_info,
+ EntityComponentManager &_ecm) override;
+
  /// \brief Function to call every time we configure a world
  public: std::function<void(const Entity &_entity,
  const std::shared_ptr<const sdf::Element> &_sdf,
@@ -68,6 +73,10 @@ class HelperSystem :
  /// \brief Function to call every post-update
  public: std::function<void(const UpdateInfo &,
  const EntityComponentManager &)> postUpdateCallback;
+
+ /// \brief Reset callback
+ public: std::function<void(const UpdateInfo &,
+ EntityComponentManager &)> resetCallback;
 };
 
 /////////////////////////////////////////////////
@@ -105,6 +114,14 @@ void HelperSystem::PostUpdate(const UpdateInfo &_info,
  this->postUpdateCallback(_info, _ecm);
 }
 
+/////////////////////////////////////////////////
+void HelperSystem::Reset(const UpdateInfo &_info,
+ EntityComponentManager &_ecm)
+{
+ if (this->resetCallback)
+ this->resetCallback(_info, _ecm);
+}
+
 //////////////////////////////////////////////////
 class gz::sim::TestFixture::Implementation
 {
@@ -200,6 +217,16 @@ TestFixture &TestFixture::OnPostUpdate(std::function<void(
  return *this;
 }
 
+//////////////////////////////////////////////////
+TestFixture &TestFixture::OnReset(std::function<void(
+ const UpdateInfo &, EntityComponentManager &)> _cb)
+{
+ if (nullptr != this->dataPtr->helperSystem)
+ this->dataPtr->helperSystem->resetCallback = std::move(_cb);
+ return *this;
+}
+
+
 //////////////////////////////////////////////////
 std::shared_ptr<Server> TestFixture::Server() const
 {