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Merged
chapulina merged 22 commits into from
Aug 12, 2021
Merged

Remove plugin interface and support custom sensors #90

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ccedda3
Use ign-plugin (alternative to #38)
chapulina Feb 5, 2021
daeb18d
Hack to match a sensor type when multiple sensors are available
chapulina Feb 6, 2021
1c16a12
Set custom flags, get exact plugin class
chapulina Feb 9, 2021
c5d331a
simpler alias
chapulina Feb 17, 2021
5ea0380
Support custom sensors
chapulina Feb 17, 2021
ef18c26
merged from main
chapulina Feb 17, 2021
ecf87cf
PR feedback
chapulina Feb 17, 2021
0e8e9c5
Merge branch 'main' into chapulina/5/plugin
chapulina Mar 2, 2021
07dc26b
Merge branch 'main' into chapulina/5/plugin
chapulina Aug 2, 2021
aef8a6a
remove custom flag
chapulina Aug 2, 2021
ae566dc
AddSensor
chapulina Aug 2, 2021
6f5718e
tweaks
chapulina Aug 2, 2021
5094b4c
merged from chapulina/5/custom_sensors
chapulina Aug 2, 2021
9e7d069
tweaks
chapulina Aug 3, 2021
10396fb
Turn 180 degrees: just don't use plugins at all
chapulina Aug 5, 2021
a42953b
Update examples and some other cleanup
chapulina Aug 5, 2021
01855a2
Helper function to get custom sensor type
chapulina Aug 5, 2021
c3c560e
Rename tests, add tutorial
chapulina Aug 6, 2021
05ef960
odometer
chapulina Aug 6, 2021
a533f70
cleanup
chapulina Aug 6, 2021
fdde936
PR feedback, windows deprecation test
chapulina Aug 10, 2021
949f519
linters
chapulina Aug 10, 2021
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8 changes: 8 additions & 0 deletions Migration.md
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Expand Up @@ -5,6 +5,14 @@ Deprecated code produces compile-time warnings. These warning serve as
notification to users that their code should be upgraded. The next major
release will remove the deprecated code.

## Ignition Sensors 4.X to 5.X

* Plugins now use Ignition Plugin instead of Ignition Common's plugin framework.
* Macro `IGN_SENSORS_REGISTER_SENSOR` has been removed. Use `IGNITION_ADD_PLUGIN` instead.
+ ***Deprecation*** IGN_SENSORS_REGISTER_SENSOR(SensorName)
+ ***Replacement*** IGNITION_ADD_PLUGIN(ignition::sensors::SensorTypePlugin<SensorName>, ignition::sensors::SensorPlugin)
* Use `#include <ignition/plugin/Register.hh>`
* Privately link against `ignition-plugin${IGN_PLUGIN_VER}::register`

## Ignition Sensors 3.X to 4.X

Expand Down
1 change: 0 additions & 1 deletion include/ignition/sensors/CameraSensor.hh
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Expand Up @@ -23,7 +23,6 @@

#include <sdf/sdf.hh>

#include <ignition/common/PluginMacros.hh>
#include <ignition/common/SuppressWarning.hh>
#include <ignition/common/Time.hh>

Expand Down
1 change: 0 additions & 1 deletion include/ignition/sensors/DepthCameraSensor.hh
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Expand Up @@ -24,7 +24,6 @@
#include <sdf/sdf.hh>

#include <ignition/common/Event.hh>
#include <ignition/common/PluginMacros.hh>
#include <ignition/common/SuppressWarning.hh>
#include <ignition/common/Time.hh>

Expand Down
1 change: 0 additions & 1 deletion include/ignition/sensors/LogicalCameraSensor.hh
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Expand Up @@ -23,7 +23,6 @@

#include <sdf/sdf.hh>

#include <ignition/common/PluginMacros.hh>
#include <ignition/common/SuppressWarning.hh>
#include <ignition/common/Time.hh>

Expand Down
10 changes: 0 additions & 10 deletions include/ignition/sensors/SensorFactory.hh
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Expand Up @@ -23,7 +23,6 @@
#include <sdf/sdf.hh>

#include <ignition/common/Console.hh>
#include <ignition/common/PluginMacros.hh>
#include <ignition/common/SuppressWarning.hh>

#include <ignition/sensors/config.hh>
Expand All @@ -43,9 +42,6 @@ namespace ignition
/// \brief Base sensor plugin interface
class IGNITION_SENSORS_VISIBLE SensorPlugin
{
/// \brief Allows using shorter APIS in common::PluginLoader
public: IGN_COMMON_SPECIALIZE_INTERFACE(ignition::sensors::SensorPlugin)

/// \brief Instantiate new sensor
/// \return New sensor
public: virtual Sensor *New() = 0;
Expand Down Expand Up @@ -182,12 +178,6 @@ namespace ignition
private: std::unique_ptr<SensorFactoryPrivate> dataPtr;
IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
};

/// \brief Sensor registration macro
#define IGN_SENSORS_REGISTER_SENSOR(classname) \
IGN_COMMON_REGISTER_SINGLE_PLUGIN(\
ignition::sensors::SensorTypePlugin<classname>, \
ignition::sensors::SensorPlugin)
}
}
}
Expand Down
1 change: 0 additions & 1 deletion include/ignition/sensors/ThermalCameraSensor.hh
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Expand Up @@ -24,7 +24,6 @@
#include <sdf/sdf.hh>

#include <ignition/common/Event.hh>
#include <ignition/common/PluginMacros.hh>
#include <ignition/common/SuppressWarning.hh>
#include <ignition/common/Time.hh>

Expand Down
5 changes: 4 additions & 1 deletion src/AirPressureSensor.cc
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Expand Up @@ -26,6 +26,7 @@
#endif

#include <ignition/common/Profiler.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/sensors/GaussianNoiseModel.hh"
Expand Down Expand Up @@ -224,4 +225,6 @@ double AirPressureSensor::ReferenceAltitude() const
return this->dataPtr->referenceAltitude;
}

IGN_SENSORS_REGISTER_SENSOR(AirPressureSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<AirPressureSensor>,
ignition::sensors::SensorPlugin)
5 changes: 4 additions & 1 deletion src/AltimeterSensor.cc
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Expand Up @@ -16,6 +16,7 @@
*/

#include <ignition/common/Profiler.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/sensors/AltimeterSensor.hh"
Expand Down Expand Up @@ -219,4 +220,6 @@ double AltimeterSensor::VerticalVelocity() const
return this->dataPtr->verticalVelocity;
}

IGN_SENSORS_REGISTER_SENSOR(AltimeterSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<ignition::sensors::AltimeterSensor>,
ignition::sensors::SensorPlugin)
24 changes: 24 additions & 0 deletions src/CMakeLists.txt
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Expand Up @@ -43,6 +43,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
sdformat${SDF_VER}::sdformat${SDF_VER}
PRIVATE
ignition-common${IGN_COMMON_VER}::profiler
ignition-plugin${IGN_PLUGIN_VER}::loader
)
target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)

Expand All @@ -62,6 +63,7 @@ target_link_libraries(${camera_target}
${rendering_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)

Expand All @@ -72,6 +74,7 @@ target_link_libraries(${depth_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)

Expand All @@ -83,6 +86,7 @@ target_link_libraries(${lidar_target}
${rendering_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)

Expand All @@ -92,6 +96,7 @@ target_compile_definitions(${gpu_lidar_target} PUBLIC GpuLidarSensor_EXPORTS)
target_link_libraries(${gpu_lidar_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
${lidar_target}
)
Expand All @@ -102,20 +107,37 @@ target_compile_definitions(${logical_camera_target} PUBLIC LogicalCameraSensor_E
target_link_libraries(${logical_camera_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)

set(magnetometer_sources MagnetometerSensor.cc)
ign_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME magnetometer_target)
target_link_libraries(${magnetometer_target}
PRIVATE
ignition-plugin${IGN_PLUGIN_VER}::register
)

set(imu_sources ImuSensor.cc)
ign_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
target_link_libraries(${imu_target}
PRIVATE
ignition-plugin${IGN_PLUGIN_VER}::register
)

set(altimeter_sources AltimeterSensor.cc)
ign_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
target_link_libraries(${altimeter_target}
PRIVATE
ignition-plugin${IGN_PLUGIN_VER}::register
)

set(air_pressure_sources AirPressureSensor.cc)
ign_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
target_link_libraries(${air_pressure_target}
PRIVATE
ignition-plugin${IGN_PLUGIN_VER}::register
)

set(rgbd_camera_sources RgbdCameraSensor.cc)
ign_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
Expand All @@ -124,6 +146,7 @@ target_link_libraries(${rgbd_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)

Expand All @@ -133,6 +156,7 @@ target_link_libraries(${thermal_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-plugin${IGN_PLUGIN_VER}::register
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)

Expand Down
5 changes: 4 additions & 1 deletion src/CameraSensor.cc
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Expand Up @@ -33,6 +33,7 @@
#include <ignition/common/StringUtils.hh>
#include <ignition/math/Angle.hh>
#include <ignition/math/Helpers.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/sensors/CameraSensor.hh"
Expand Down Expand Up @@ -647,4 +648,6 @@ double CameraSensor::Baseline() const
return this->dataPtr->baseline;
}

IGN_SENSORS_REGISTER_SENSOR(CameraSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<CameraSensor>,
ignition::sensors::SensorPlugin)
6 changes: 5 additions & 1 deletion src/DepthCameraSensor.cc
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Expand Up @@ -34,6 +34,8 @@
#include <ignition/math/Angle.hh>
#include <ignition/math/Helpers.hh>

#include <ignition/plugin/Register.hh>

#include <ignition/transport/Node.hh>

#include "ignition/sensors/DepthCameraSensor.hh"
Expand Down Expand Up @@ -632,4 +634,6 @@ double DepthCameraSensor::NearClip() const
return this->dataPtr->near;
}

IGN_SENSORS_REGISTER_SENSOR(DepthCameraSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<DepthCameraSensor>,
ignition::sensors::SensorPlugin)
5 changes: 4 additions & 1 deletion src/GpuLidarSensor.cc
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Expand Up @@ -28,6 +28,7 @@
#include <ignition/common/Console.hh>
#include <ignition/common/Profiler.hh>
#include <ignition/msgs/Utility.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/sensors/GpuLidarSensor.hh"
Expand Down Expand Up @@ -372,4 +373,6 @@ void GpuLidarSensorPrivate::FillPointCloudMsg()
}
}

IGN_SENSORS_REGISTER_SENSOR(GpuLidarSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<GpuLidarSensor>,
ignition::sensors::SensorPlugin)
5 changes: 4 additions & 1 deletion src/ImuSensor.cc
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Expand Up @@ -25,6 +25,7 @@
#endif

#include <ignition/common/Profiler.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/sensors/ImuSensor.hh"
Expand Down Expand Up @@ -302,4 +303,6 @@ math::Quaterniond ImuSensor::Orientation() const
return this->dataPtr->orientation;
}

IGN_SENSORS_REGISTER_SENSOR(ImuSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<ImuSensor>,
ignition::sensors::SensorPlugin)
5 changes: 4 additions & 1 deletion src/Lidar.cc
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Expand Up @@ -17,6 +17,7 @@
#include <ignition/common/Console.hh>
#include <ignition/common/Event.hh>
#include <ignition/common/Profiler.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>
#include <sdf/Lidar.hh>

Expand Down Expand Up @@ -448,4 +449,6 @@ bool Lidar::IsActive() const
return true;
}

IGN_SENSORS_REGISTER_SENSOR(Lidar)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<Lidar>,
ignition::sensors::SensorPlugin)
9 changes: 5 additions & 4 deletions src/LogicalCameraSensor.cc
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Expand Up @@ -19,11 +19,10 @@

#include <ignition/common/Console.hh>
#include <ignition/common/Profiler.hh>

#include <ignition/transport/Node.hh>

#include <ignition/math/Frustum.hh>
#include <ignition/math/Helpers.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include "ignition/sensors/SensorFactory.hh"
#include "ignition/sensors/LogicalCameraSensor.hh"
Expand Down Expand Up @@ -209,4 +208,6 @@ msgs::LogicalCameraImage LogicalCameraSensor::Image() const
return this->dataPtr->msg;
}

IGN_SENSORS_REGISTER_SENSOR(LogicalCameraSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<LogicalCameraSensor>,
ignition::sensors::SensorPlugin)
5 changes: 4 additions & 1 deletion src/MagnetometerSensor.cc
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Expand Up @@ -26,6 +26,7 @@
#endif

#include <ignition/common/Profiler.hh>
#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>
#include <sdf/Magnetometer.hh>

Expand Down Expand Up @@ -238,4 +239,6 @@ math::Vector3d MagnetometerSensor::MagneticField() const
return this->dataPtr->localField;
}

IGN_SENSORS_REGISTER_SENSOR(MagnetometerSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<MagnetometerSensor>,
ignition::sensors::SensorPlugin)
2 changes: 0 additions & 2 deletions src/Manager.cc
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Expand Up @@ -18,8 +18,6 @@
#include "ignition/sensors/Manager.hh"
#include <memory>
#include <unordered_map>
#include <ignition/common/PluginLoader.hh>
#include <ignition/common/Plugin.hh>
#include <ignition/common/Profiler.hh>
#include <ignition/common/SystemPaths.hh>
#include <ignition/common/Console.hh>
Expand Down
5 changes: 4 additions & 1 deletion src/RgbdCameraSensor.cc
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Expand Up @@ -42,6 +42,7 @@
#pragma warning(pop)
#endif

#include <ignition/plugin/Register.hh>
#include <ignition/transport/Node.hh>

#include <sdf/Sensor.hh>
Expand Down Expand Up @@ -609,4 +610,6 @@ unsigned int RgbdCameraSensor::ImageHeight() const
return this->dataPtr->depthCamera->ImageHeight();
}

IGN_SENSORS_REGISTER_SENSOR(RgbdCameraSensor)
IGNITION_ADD_PLUGIN(
ignition::sensors::SensorTypePlugin<RgbdCameraSensor>,
ignition::sensors::SensorPlugin)
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