Allows systems to be written in Python. More...

#include <PythonSystemLoader.hh>

Public Member Functions
	~PythonSystemLoader () final

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
	Configure the system. More...

void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) final

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final

void	Reset (const UpdateInfo &_info, EntityComponentManager &_ecm) final

void	Update (const UpdateInfo &_info, EntityComponentManager &_ecm) final

Public Member Functions inherited from System
	System ()=default
	Constructor. More...

virtual	~System ()=default
	Destructor. More...

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More...

Static Public Attributes inherited from System
constexpr static PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases. More...

constexpr static std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed. More...

Detailed Description

Allows systems to be written in Python.

The convention for a system written in Python supported by the PythonSystemLoader is that it's a Python module providing a get_system function which itself returns an instance of a class that implements the various interfaces in System. The spelling of the interfaces conforms to Python code style guides, so the following name mapping applies

configure : Corresponds to System::ISystemConfigure::Configure
pre_update : Corresponds to System::ISystemPreUpdate::PreUpdate
update : Corresponds to System::ISystemUpdate::Update
post_update : Corresponds to System::ISystemPostUpdate::PostUpdate
reset : Corresponds to System::ISystemReset::Reset

It is not necessary to implement all the interfaces. PythonSystemLoader will check if the corresponding method is implemented in the Python system and skip it if it's not found.

See examples/scripts/python_api/systems/test_system.py for an example

System Parameters

<module_name> : Name of python module to be loaded. The search path includes GZ_SIM_SYSTEM_PLUGIN_PATH as well as PYTHONPATH.

The contents of the <plugin> tag will be available in the configure method of the Python system

Constructor & Destructor Documentation

◆ ~PythonSystemLoader()

~PythonSystemLoader ( )

final

Member Function Documentation

◆ Configure()

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

finalvirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.