Model command structure update

Signed-off-by: Marcos Wagner <[email protected]>

CMakeLists.txt

@@ -149,9 +149,7 @@ set(IGNITION_GAZEBO_GUI_PLUGIN_INSTALL_DIR
 #============================================================================
 # Configure the build
 #============================================================================
-ign_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS model
-)
+ign_configure_build(QUIT_IF_BUILD_ERRORS)
 
 add_subdirectory(examples)
 

src/CMakeLists.txt

@@ -31,6 +31,7 @@ set(gui_sources
   PARENT_SCOPE
 )
 
+ign_add_component(model SOURCES cmd/ModelCommandAPI.cc GET_TARGET_NAME model_lib_target)
 ign_add_component(ign SOURCES ign.cc GET_TARGET_NAME ign_lib_target)
 target_link_libraries(${ign_lib_target}
   PRIVATE
@@ -59,6 +60,7 @@ set (sources
   Util.cc
   View.cc
   World.cc
+  cmd/ModelCommandAPI.cc
   ${PROTO_PRIVATE_SRC}
   ${network_sources}
 )
@@ -74,6 +76,7 @@ set (gtest_sources
   ign_TEST.cc
   Link_TEST.cc
   Model_TEST.cc
+  ModelCommandAPI_TEST.cc
   SdfEntityCreator_TEST.cc
   SdfGenerator_TEST.cc
   Server_TEST.cc
@@ -164,6 +167,13 @@ if(TARGET UNIT_ign_TEST)
     ENVIRONMENT "${_env_vars}")
 endif()
 
+if(TARGET UNIT_ModelCommandAPI_TEST)
+
+  target_compile_definitions(UNIT_ModelCommandAPI_TEST PRIVATE
+  "IGN_PATH=\"${IGNITION-TOOLS_BINARY_DIRS}\"")
+
+endif()
+
 if(NOT WIN32)
   add_subdirectory(cmd)
 endif()

model/src/ModelCommandAPI_TEST.cc → src/ModelCommandAPI_TEST.cc

@@ -24,6 +24,7 @@
 #include <gtest/gtest.h>
 
 #include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/test_config.hh"  // NOLINT(build/include)
 
 static const std::string kIgnModelCommand(std::string(IGN_PATH) +
                                           "/ign model ");
@@ -40,8 +41,8 @@ void ReplaceNegativeZeroValues(std::string &_text)
   size_t pos = 0;
   while ((pos = _text.find(neg_zero, pos)) != std::string::npos)
   {
-        _text.replace(pos, neg_zero.length(), zero);
-        pos += zero.length();
+    _text.replace(pos, neg_zero.length(), zero);
+    pos += zero.length();
   }
 }
 
@@ -114,7 +115,8 @@ TEST(ModelCommandAPI, Commands)
     ReplaceNegativeZeroValues(output);
     const std::string expectedOutput =
       "\nRequesting state for world [diff_drive]...\n\n"
-      "Name: vehicle_blue\n"
+      "Model: [8]\n"
+      "  - Name: vehicle_blue\n"
       "  - Pose: \n"
       "      [0.000000 | 2.000000 | 0.325000]\n"
       "      [0.000000 | 0.000000 | 0.000000]\n"
@@ -191,7 +193,8 @@ TEST(ModelCommandAPI, Commands)
     ReplaceNegativeZeroValues(output);
     const std::string expectedOutput =
       "\nRequesting state for world [diff_drive]...\n\n"
-      "Name: vehicle_blue\n"
+      "Model: [8]\n"
+      "  - Name: vehicle_blue\n"
       "  - Pose: \n"
       "      [0.000000 | 2.000000 | 0.325000]\n"
       "      [0.000000 | 0.000000 | 0.000000]\n\n";

src/cmd/CMakeLists.txt

@@ -36,6 +36,38 @@ install( FILES
   DESTINATION
     ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
 
+#===============================================================================
+# Used for the installed model command version.
+# Generate the ruby script that gets installed.
+# Note that the major version of the library is included in the name.
+set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_model_script_configured "${cmd_model_script_generated}.configured")
+
+# Set the model_library_location variable to the relative path to the library file
+# within the install directory structure.
+set(model_library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${model_lib_target}>")
+
+configure_file(
+  "cmdmodel.rb.in"
+  "${cmd_model_script_configured}"
+  @ONLY)
+file(GENERATE
+  OUTPUT "${cmd_model_script_generated}"
+  INPUT  "${cmd_model_script_configured}")
+
+install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition)
+
+# Used for the installed version.
+set(ign_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}")
+
+set(ignmodel_configured "${CMAKE_CURRENT_BINARY_DIR}/ignmodel${PROJECT_VERSION_MAJOR}.yaml")
+configure_file(
+  "ignmodel.yaml.in"
+  ${ignmodel_configured})
+
+install(FILES ${ignmodel_configured} DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/)
+
+
 #===============================================================================
 # Generate the ruby script for internal testing.
 # Note that the major version of the library is included in the name.
@@ -66,3 +98,30 @@ set(ign_library_path
 configure_file(
   "${IGN_DESIGNATION}.yaml.in"
   "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+
+#===============================================================================
+# Generate the ruby script for internal testing.
+# Note that the major version of the library is included in the name.
+set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/model/test/lib/ruby/ignition")
+set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
+set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")
+
+# Set the model_library_location variable to the full path of the library file
+# within the build directory
+set(model_library_location "$<TARGET_FILE:${model_lib_target}>")
+
+configure_file(
+  "cmdmodel.rb.in"
+  "${cmd_model_script_configured_test}"
+  @ONLY)
+
+file(GENERATE
+  OUTPUT "${cmd_model_script_generated_test}"
+  INPUT  "${cmd_model_script_configured_test}")
+
+# Used for internal testing.
+set(ign_model_ruby_path "${cmd_model_script_generated_test}")
+
+configure_file(
+  "ignmodel.yaml.in"
+  "${cmd_model_ruby_test_dir}/ignmodel${PROJECT_VERSION_MAJOR}.yaml")

model/src/cmd/ModelCommandAPI.cc → src/cmd/ModelCommandAPI.cc

@@ -78,7 +78,7 @@ std::string getWorldName()
 // \brief Set the state of a ECM instance with a world snapshot.
 // \param _ecm ECM instance to be populated.
 // \return boolean indicating if it was able to populate the ECM.
-bool PopulateECM(ignition::gazebo::EntityComponentManager &_ecm)
+bool populateECM(ignition::gazebo::EntityComponentManager &_ecm)
 {
   const std::string world = getWorldName();
   if (world.empty())
@@ -143,7 +143,8 @@ void printPose(const uint64_t _entity,
                             + std::to_string(poseComp->Data().Pitch()) + " | "
                             + std::to_string(poseComp->Data().Yaw()) + "]";
 
-    std::cout << "Name: " << nameComp->Data() << std::endl
+    std::cout << "Model: [" << _entity << "]" << std::endl
+              << "  - Name: " << nameComp->Data() << std::endl
               << "  - Pose: " << poseInfo << std::endl << std::endl;
   }
 }
@@ -304,7 +305,7 @@ void printJoints(const uint64_t entity,
 extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelList()
 {
   ignition::gazebo::EntityComponentManager ecm{};
-  if(!PopulateECM(ecm))
+  if(!populateECM(ecm))
   {
     return;
   }
@@ -347,7 +348,7 @@ extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelInfo(
   // Get arguments
 
   ignition::gazebo::EntityComponentManager ecm{};
-  if(!PopulateECM(ecm))
+  if(!populateECM(ecm))
     return;
 
   // Get the desired model entity.

model/src/cmd/cmdmodel.rb.in → src/cmd/cmdmodel.rb.in

@@ -47,13 +47,18 @@ COMMANDS = { 'model' =>
   "                             If no arg is passed all links are printed  \n"\
   "                             Requires the -m option                     \n"\
   "                                                                        \n"\
+  "                             E.g. to get information about the          \n"\
+  "                             caster link in the diff_drive world, run:  \n"\
+  "                             ign model -m vehicle_blue -l caster        \n"\
+  "                                                                        \n"\
   "  -j [--joint] arg           Select a joint to show its properties.     \n"\
   "                             If no arg is passed all joints are printed \n"\
   "                             Requires the -m option                     \n"\
   "                                                                        \n"\
   "                             E.g. to get information about the          \n"\
-  "                             box_link in the shapes world, run:         \n"\
-  "                             ign model -m box -l box_link               \n\n"+
+  "                             caster_wheel joint in the diff_drive       \n"\
+  "                             world, run:                                \n"\
+  "                             ign model -m vehicle_blue -j caster_wheel  \n\n"+
   COMMON_OPTIONS
 }
 
@@ -77,7 +82,7 @@ class Cmd
 
     opt_parser = OptionParser.new do |opts|
       opts.banner = usage
-  
+
       opts.on('-h', '--help') do
           puts usage
           exit
@@ -124,8 +129,8 @@ class Cmd
 
     options
   end # parse()
-  
-  
+
+
   def execute(args)
     options = parse(args)
 
@@ -159,7 +164,7 @@ class Cmd
 
       Importer.cmdModelInfo(options['model'], options['pose'], options['link'],
       options['link_name'], options['joint'], options['joint_name'])
-    else 
+    else
       puts 'Command error: I do not have an implementation for '\
         "command [ign #{options['command']}]."
     end