Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration. More...
#include <ignition/gazebo/ServerConfig.hh>
Classes | |
class | PluginInfo |
Information about a plugin that should be loaded by the server. More... | |
Public Member Functions | |
ServerConfig () | |
Constructor. More... | |
ServerConfig (const ServerConfig &_config) | |
Copy constructor. More... | |
~ServerConfig () | |
Destructor. More... | |
void | AddLogRecordTopic (const std::string &_topic) |
Add a topic to record. More... | |
void | AddPlugin (const PluginInfo &_info) |
Instruct simulation to attach a plugin to a specific entity when simulation starts. More... | |
void | AddPlugins (const std::list< PluginInfo > &_plugins) |
Add multiple plugins to the simulation. More... | |
void | ClearLogRecordTopics () |
Clear topics to record. This will remove all topics set using AddLogRecordTopic. More... | |
bool | LogIgnoreSdfPath () const |
Get whether to ignore the path specified in SDF. More... | |
const std::string | LogPlaybackPath () const |
Get path to recorded states to play back. More... | |
PluginInfo | LogPlaybackPlugin () const |
Generate PluginInfo for Log playback based on the internal state of this ServerConfig object: More... | |
std::string | LogRecordCompressPath () const |
Get file path to compress log files to. More... | |
const std::string | LogRecordPath () const |
Get path to place recorded states. More... | |
PluginInfo | LogRecordPlugin () const |
Generate PluginInfo for Log recording based on the internal state of this ServerConfig object: More... | |
bool | LogRecordResources () const |
Get whether meshes and material files are recorded. More... | |
const std::vector< std::string > & | LogRecordTopics () const |
Get the topics to record that were added using AddLogRecordTopic. More... | |
std::string | NetworkRole () const |
Get the network role. See SetNetworkRole(const std::string &_role) for more information about distributed simulation and network roles. More... | |
unsigned int | NetworkSecondaries () const |
Get the number of secondary servers that a primary server should expect. More... | |
ServerConfig & | operator= (const ServerConfig &_cfg) |
Equal operator. More... | |
const std::string & | PhysicsEngine () const |
Physics engine plugin library to load. More... | |
const std::list< PluginInfo > & | Plugins () const |
Get all the plugins that should be loaded. More... | |
const std::string & | RenderEngineGui () const |
Render engine plugin library to load. More... | |
const std::string & | RenderEngineServer () const |
Render engine plugin library to load. More... | |
const std::string & | ResourceCache () const |
Path to where simulation resources, such as models downloaded from fuel.ignitionrobotics.org, should be stored. More... | |
std::string | SdfFile () const |
Get the SDF file that has been set. An empty string will be returned if an SDF file has not been set. More... | |
std::string | SdfString () const |
Get the SDF String that has been set. An empty string will be returned if an SDF string has not been set. More... | |
unsigned int | Seed () const |
The given random seed. More... | |
void | SetLogIgnoreSdfPath (bool _ignore) |
Set whether to ignore the path specified in SDF. Path in SDF should be ignored if a record path is specified on the command line, for example. More... | |
void | SetLogPlaybackPath (const std::string &_playbackPath) |
Set path to recorded states to play back. More... | |
void | SetLogRecordCompressPath (const std::string &_path) |
Set file path to compress log files to. More... | |
void | SetLogRecordPath (const std::string &_recordPath) |
Set path to place recorded states. More... | |
void | SetLogRecordResources (bool _recordResources) |
Set whether meshes and material files are recorded. More... | |
void | SetNetworkRole (const std::string &_role) |
Set the network role, which is one of [primary, secondary]. If primary is used, then make sure to also set the numer of network secondaries via SetNetworkSecondaries(unsigned int _secondaries). More... | |
void | SetNetworkSecondaries (unsigned int _secondaries) |
Set the number of network secondary servers that the primary server should expect. This value is valid only when SetNetworkRole("primary") is also used. More... | |
void | SetPhysicsEngine (const std::string &_physicsEngine) |
Set the physics engine plugin library. More... | |
void | SetRenderEngineGui (const std::string &_renderEngineGui) |
Set the render engine gui plugin library. More... | |
void | SetRenderEngineServer (const std::string &_renderEngineServer) |
Set the render engine server plugin library. More... | |
void | SetResourceCache (const std::string &_path) |
Set the path to where simulation resources, such as models downloaded from fuel.ignitionrobotics.org, should be stored. More... | |
bool | SetSdfFile (const std::string &_file) |
Set an SDF file to be used with the server. More... | |
bool | SetSdfString (const std::string &_sdfString) |
Set an SDF string to be used by the server. More... | |
void | SetSeed (unsigned int _seed) |
Set the random seed. More... | |
void | SetUpdateRate (const double &_hz) |
Set the update rate in Hertz. Value <=0 are ignored. More... | |
void | SetUseLevels (const bool _levels) |
Get whether the server is using the level system. More... | |
void | SetUseLogRecord (const bool _record) |
Set whether the server is recording states. More... | |
const std::chrono::time_point< std::chrono::system_clock > & | Timestamp () const |
Get the timestamp of this ServerConfig. This is the system time when this ServerConfig was created. The timestamp is used internally to create log file paths so that both state and console logs are co-located. More... | |
std::optional< std::chrono::steady_clock::duration > | UpdatePeriod () const |
Get the update period duration. More... | |
std::optional< double > | UpdateRate () const |
Get the update rate in Hertz. More... | |
bool | UseDistributedSimulation () const |
Get whether the server is using the distributed sim system. More... | |
bool | UseLevels () const |
Get whether the server is using the level system. More... | |
bool | UseLogRecord () const |
Get whether the server is recording states. More... | |
Detailed Description
Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration.
Constructor & Destructor Documentation
◆ ServerConfig() [1/2]
ServerConfig | ( | ) |
Constructor.
◆ ServerConfig() [2/2]
ServerConfig | ( | const ServerConfig & | _config | ) |
Copy constructor.
- Parameters
-
[in] _config ServerConfig to copy.
◆ ~ServerConfig()
~ServerConfig | ( | ) |
Destructor.
Member Function Documentation
◆ AddLogRecordTopic()
void AddLogRecordTopic | ( | const std::string & | _topic | ) |
Add a topic to record.
- Parameters
-
[in] _topic Topic name, which can include wildcards.
◆ AddPlugin()
void AddPlugin | ( | const PluginInfo & | _info | ) |
Instruct simulation to attach a plugin to a specific entity when simulation starts.
- Parameters
-
[in] _info Information about the plugin to load.
◆ AddPlugins()
void AddPlugins | ( | const std::list< PluginInfo > & | _plugins | ) |
Add multiple plugins to the simulation.
- Parameters
-
[in] _plugins List of Information about the plugin to load.
◆ ClearLogRecordTopics()
void ClearLogRecordTopics | ( | ) |
Clear topics to record. This will remove all topics set using AddLogRecordTopic.
◆ LogIgnoreSdfPath()
bool LogIgnoreSdfPath | ( | ) | const |
Get whether to ignore the path specified in SDF.
- Returns
- Whether to ignore the path specified in SDF TODO(anyone) Deprecate on Dome, SDF path will always be ignored.
◆ LogPlaybackPath()
const std::string LogPlaybackPath | ( | ) | const |
Get path to recorded states to play back.
- Returns
- Path to recorded states
◆ LogPlaybackPlugin()
PluginInfo LogPlaybackPlugin | ( | ) | const |
Generate PluginInfo for Log playback based on the internal state of this ServerConfig object:
- See also
- LogPlaybackPath
◆ LogRecordCompressPath()
std::string LogRecordCompressPath | ( | ) | const |
Get file path to compress log files to.
- Returns
- File path to compress log files to
◆ LogRecordPath()
const std::string LogRecordPath | ( | ) | const |
Get path to place recorded states.
- Returns
- Path to place recorded states
◆ LogRecordPlugin()
PluginInfo LogRecordPlugin | ( | ) | const |
Generate PluginInfo for Log recording based on the internal state of this ServerConfig object:
◆ LogRecordResources()
bool LogRecordResources | ( | ) | const |
Get whether meshes and material files are recorded.
- Returns
- True if resources should be recorded.
◆ LogRecordTopics()
const std::vector<std::string>& LogRecordTopics | ( | ) | const |
Get the topics to record that were added using AddLogRecordTopic.
- Returns
- The topics to record.
◆ NetworkRole()
std::string NetworkRole | ( | ) | const |
Get the network role. See SetNetworkRole(const std::string &_role) for more information about distributed simulation and network roles.
- Returns
- The network role.
◆ NetworkSecondaries()
unsigned int NetworkSecondaries | ( | ) | const |
Get the number of secondary servers that a primary server should expect.
- Returns
- Number of secondary servers.
◆ operator=()
ServerConfig& operator= | ( | const ServerConfig & | _cfg | ) |
◆ PhysicsEngine()
const std::string& PhysicsEngine | ( | ) | const |
Physics engine plugin library to load.
- Returns
- File containing physics engine library.
◆ Plugins()
const std::list<PluginInfo>& Plugins | ( | ) | const |
Get all the plugins that should be loaded.
- Returns
- A list of all the plugins specified via AddPlugin(const PluginInfo &).
◆ RenderEngineGui()
const std::string& RenderEngineGui | ( | ) | const |
Render engine plugin library to load.
- Returns
- File containing render engine library.
◆ RenderEngineServer()
const std::string& RenderEngineServer | ( | ) | const |
Render engine plugin library to load.
- Returns
- File containing render engine library.
◆ ResourceCache()
const std::string& ResourceCache | ( | ) | const |
Path to where simulation resources, such as models downloaded from fuel.ignitionrobotics.org, should be stored.
- Returns
- Path to a location on disk. An empty string indicates that the default value will be used, which is currently ~/.ignition/fuel.
◆ SdfFile()
std::string SdfFile | ( | ) | const |
Get the SDF file that has been set. An empty string will be returned if an SDF file has not been set.
- Returns
- The full path to the SDF file, or empty string.
◆ SdfString()
std::string SdfString | ( | ) | const |
Get the SDF String that has been set. An empty string will be returned if an SDF string has not been set.
- Returns
- The full contents of the SDF string, or empty string.
◆ Seed()
unsigned int Seed | ( | ) | const |
The given random seed.
- Returns
- The random seed or 0 if not specified.
◆ SetLogIgnoreSdfPath()
void SetLogIgnoreSdfPath | ( | bool | _ignore | ) |
Set whether to ignore the path specified in SDF. Path in SDF should be ignored if a record path is specified on the command line, for example.
- Parameters
-
[in] _ignore Whether to ignore the path specified in SDF TODO(anyone) Deprecate on Dome, SDF path will always be ignored.
◆ SetLogPlaybackPath()
void SetLogPlaybackPath | ( | const std::string & | _playbackPath | ) |
Set path to recorded states to play back.
- Parameters
-
[in] _playbackPath Path to recorded states
◆ SetLogRecordCompressPath()
void SetLogRecordCompressPath | ( | const std::string & | _path | ) |
Set file path to compress log files to.
- Parameters
-
[in] _path File path to compress log files to
◆ SetLogRecordPath()
void SetLogRecordPath | ( | const std::string & | _recordPath | ) |
Set path to place recorded states.
- Parameters
-
[in] _recordPath Path to place recorded states
◆ SetLogRecordResources()
void SetLogRecordResources | ( | bool | _recordResources | ) |
Set whether meshes and material files are recorded.
- Parameters
-
[in] _recordResources Value to set
◆ SetNetworkRole()
void SetNetworkRole | ( | const std::string & | _role | ) |
Set the network role, which is one of [primary, secondary]. If primary is used, then make sure to also set the numer of network secondaries via SetNetworkSecondaries(unsigned int _secondaries).
- Parameters
-
[in] _role Network role, one of [primary, secondary].
- Note
- Setting a network role enables distributed simulation.
◆ SetNetworkSecondaries()
void SetNetworkSecondaries | ( | unsigned int | _secondaries | ) |
Set the number of network secondary servers that the primary server should expect. This value is valid only when SetNetworkRole("primary") is also used.
- Parameters
-
[in] _secondaries Number of secondary servers.
◆ SetPhysicsEngine()
void SetPhysicsEngine | ( | const std::string & | _physicsEngine | ) |
Set the physics engine plugin library.
- Parameters
-
[in] _physicsEngine File containing physics engine library.
◆ SetRenderEngineGui()
void SetRenderEngineGui | ( | const std::string & | _renderEngineGui | ) |
Set the render engine gui plugin library.
- Parameters
-
[in] _renderEngineGui File containing render engine library.
◆ SetRenderEngineServer()
void SetRenderEngineServer | ( | const std::string & | _renderEngineServer | ) |
Set the render engine server plugin library.
- Parameters
-
[in] _renderEngineServer File containing render engine library.
◆ SetResourceCache()
void SetResourceCache | ( | const std::string & | _path | ) |
Set the path to where simulation resources, such as models downloaded from fuel.ignitionrobotics.org, should be stored.
- Parameters
-
[in] _path Path to a location on disk. An empty string indicates that the default value will be used, which is currently ~/.ignition/fuel.
◆ SetSdfFile()
bool SetSdfFile | ( | const std::string & | _file | ) |
Set an SDF file to be used with the server.
Setting the SDF file will override any value set by SetSdfString
.
- Parameters
-
[in] _file Full path to an SDF file.
- Returns
- (reserved for future use)
◆ SetSdfString()
bool SetSdfString | ( | const std::string & | _sdfString | ) |
Set an SDF string to be used by the server.
Setting the SDF string will override any value set by SetSdfFile
.
- Parameters
-
[in] _sdfString Full path to an SDF file.
- Returns
- (reserved for future use)
◆ SetSeed()
void SetSeed | ( | unsigned int | _seed | ) |
Set the random seed.
- Parameters
-
[in] _seed The seed.
◆ SetUpdateRate()
void SetUpdateRate | ( | const double & | _hz | ) |
Set the update rate in Hertz. Value <=0 are ignored.
- Parameters
-
[in] _hz The desired update rate of the server in Hertz.
◆ SetUseLevels()
void SetUseLevels | ( | const bool | _levels | ) |
Get whether the server is using the level system.
- Parameters
-
[in] _levels Value to set.
◆ SetUseLogRecord()
void SetUseLogRecord | ( | const bool | _record | ) |
Set whether the server is recording states.
- Parameters
-
[in] _record Value to set
◆ Timestamp()
const std::chrono::time_point<std::chrono::system_clock>& Timestamp | ( | ) | const |
Get the timestamp of this ServerConfig. This is the system time when this ServerConfig was created. The timestamp is used internally to create log file paths so that both state and console logs are co-located.
- Returns
- Time when this ServerConfig was created.
◆ UpdatePeriod()
std::optional<std::chrono::steady_clock::duration> UpdatePeriod | ( | ) | const |
Get the update period duration.
- Returns
- The desired update period, or nullopt if an UpdateRate has not been set.
◆ UpdateRate()
std::optional<double> UpdateRate | ( | ) | const |
Get the update rate in Hertz.
- Returns
- The desired update rate of the server in Hertz, or nullopt if an UpdateRate has not been set.
◆ UseDistributedSimulation()
bool UseDistributedSimulation | ( | ) | const |
Get whether the server is using the distributed sim system.
- Returns
- True if the server is set to use the distributed simulation system
◆ UseLevels()
bool UseLevels | ( | ) | const |
Get whether the server is using the level system.
- Returns
- True if the server is set to use the level system
◆ UseLogRecord()
bool UseLogRecord | ( | ) | const |
Get whether the server is recording states.
- Returns
- True if the server is set to record states
The documentation for this class was generated from the following file: