Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration. More...

#include <gz/sim/ServerConfig.hh>

Classes
class	PluginInfo
	Information about a plugin that should be loaded by the server. More...

Public Types
enum class	SdfErrorBehavior { EXIT_IMMEDIATELY , CONTINUE_LOADING }
	SDF error behavior. More...

enum class	SourceType { kNone , kSdfRoot , kSdfFile , kSdfString }
	Type of SDF source. More...

Public Member Functions
	ServerConfig ()
	Constructor.

	ServerConfig (const ServerConfig &_config)
	Copy constructor.

	~ServerConfig ()
	Destructor.

void	AddLogRecordTopic (const std::string &_topic)
	Add a topic to record.

void	AddPlugin (const PluginInfo &_info)
	Instruct simulation to attach a plugin to a specific entity when simulation starts.

void	AddPlugins (const std::list< PluginInfo > &_plugins)
	Add multiple plugins to the simulation.

SdfErrorBehavior	BehaviorOnSdfErrors () const
	Get the behavior when SDF errors are encountered while.

void	ClearLogRecordTopics ()
	Clear topics to record. This will remove all topics set using AddLogRecordTopic.

bool	HeadlessRendering () const
	Get the headless mode.

double	InitialSimTime () const
	Get the initial simulation time in seconds.

const std::string	LogPlaybackPath () const
	Get path to recorded states to play back.

PluginInfo	LogPlaybackPlugin () const
	Generate PluginInfo for Log playback based on the internal state of this ServerConfig object:

std::string	LogRecordCompressPath () const
	Get file path to compress log files to.

const std::string	LogRecordPath () const
	Get path to place recorded states.

std::chrono::steady_clock::duration	LogRecordPeriod () const
	Get time period to record states.

PluginInfo	LogRecordPlugin () const
	Generate PluginInfo for Log recording based on the internal state of this ServerConfig object:

bool	LogRecordResources () const
	Get whether meshes and material files are recorded.

const std::vector< std::string > &	LogRecordTopics () const
	Get the topics to record that were added using AddLogRecordTopic.

std::string	NetworkRole () const
	Get the network role. See SetNetworkRole(const std::string &_role) for more information about distributed simulation and network roles.

unsigned int	NetworkSecondaries () const
	Get the number of secondary servers that a primary server should expect.

ServerConfig &	operator= (const ServerConfig &_cfg)
	Equal operator.

const std::string &	PhysicsEngine () const
	Physics engine plugin library to load.

const std::list< PluginInfo > &	Plugins () const
	Get all the plugins that should be loaded.

const std::string &	RenderEngineGui () const
	Render engine plugin library to load.

const std::string &	RenderEngineGuiApiBackend () const

const std::string &	RenderEngineServer () const
	Render engine plugin library to load.

const std::string &	RenderEngineServerApiBackend () const

const std::string &	ResourceCache () const
	Path to where simulation resources, such as models downloaded from fuel.gazebosim.org, should be stored.

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.

std::optional< sdf::Root > &	SdfRoot () const
	Get the SDF Root DOM object.

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.

unsigned int	Seed () const
	The given random seed.

void	SetBehaviorOnSdfErrors (SdfErrorBehavior _behavior)
	Set the server behavior when SDF errors are encountered while.

void	SetHeadlessRendering (const bool _headless)
	Set the headless mode.

void	SetInitialSimTime (const double &_initialSimTime) const
	Set the initial simulation time in seconds.

void	SetLogPlaybackPath (const std::string &_playbackPath)
	Set path to recorded states to play back.

void	SetLogRecordCompressPath (const std::string &_path)
	Set file path to compress log files to.

void	SetLogRecordPath (const std::string &_recordPath)
	Set path to place recorded states.

void	SetLogRecordPeriod (const std::chrono::steady_clock::duration &_period)
	Set time period to record states.

void	SetLogRecordResources (bool _recordResources)
	Set whether meshes and material files are recorded.

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).

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.

void	SetPhysicsEngine (const std::string &_physicsEngine)
	Set the physics engine plugin library.

void	SetRenderEngineGui (const std::string &_renderEngineGui)
	Set the render engine gui plugin library.

void	SetRenderEngineGuiApiBackend (const std::string &_apiBackend)
	Set the render engine gui API backend.

void	SetRenderEngineServer (const std::string &_renderEngineServer)
	Set the render engine server plugin library.

void	SetRenderEngineServerApiBackend (const std::string &_apiBackend)
	Set the render engine server API backend.

void	SetResourceCache (const std::string &_path)
	Set the path to where simulation resources, such as models downloaded from fuel.gazebosim.org, should be stored.

bool	SetSdfFile (const std::string &_file)
	Set an SDF file to be used with the server.

void	SetSdfRoot (const sdf::Root &_root) const
	Set the SDF Root DOM object. The sdf::Root object will take precendence over ServerConfig::SdfString() and ServerConfig::SdfFile().

bool	SetSdfString (const std::string &_sdfString)
	Set an SDF string to be used by the server.

void	SetSeed (unsigned int _seed)
	Set the random seed.

void	SetUpdateRate (const double &_hz)
	Set the update rate in Hertz. Value <=0 are ignored.

void	SetUseLevels (const bool _levels)
	Get whether the server is using the level system.

void	SetUseLogRecord (const bool _record)
	Set whether the server is recording states.

SourceType	Source () const
	Get the type of source.

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.

std::optional< std::chrono::steady_clock::duration >	UpdatePeriod () const
	Get the update period duration.

std::optional< double >	UpdateRate () const
	Get the update rate in Hertz.

bool	UseDistributedSimulation () const
	Get whether the server is using the distributed sim system.

bool	UseLevels () const
	Get whether the server is using the level system.

bool	UseLogRecord () const
	Get whether the server is recording states.

Detailed Description

Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration.

Member Enumeration Documentation

◆ SdfErrorBehavior

enum class SdfErrorBehavior

strong

SDF error behavior.

Enumerator
EXIT_IMMEDIATELY	Exit the server immediately.
CONTINUE_LOADING	Continue loading the server if possible.

◆ SourceType

enum class SourceType

strong

Type of SDF source.

Enumerator
kNone
kSdfRoot
kSdfFile
kSdfString

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.

◆ BehaviorOnSdfErrors()

SdfErrorBehavior BehaviorOnSdfErrors ( ) const

Get the behavior when SDF errors are encountered while.

loading the server.

Returns: Server behavior when SDF errors are encounted.

◆ ClearLogRecordTopics()

void ClearLogRecordTopics ( )

Clear topics to record. This will remove all topics set using AddLogRecordTopic.

◆ HeadlessRendering()

bool HeadlessRendering ( ) const

Get the headless mode.

Returns: True if headless mode is enable, false otherwise.

◆ InitialSimTime()

double InitialSimTime ( ) const

Get the initial simulation time in seconds.

Returns: The initial simulation time in seconds.

◆ 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

◆ LogRecordPeriod()

std::chrono::steady_clock::duration LogRecordPeriod ( ) const

Get time period to record states.

Returns: Time period to record states

◆ LogRecordPlugin()

PluginInfo LogRecordPlugin ( ) const

Generate PluginInfo for Log recording based on the internal state of this ServerConfig object:

See also: UseLogRecord; LogRecordPath; LogRecordResources; LogRecordCompressPath; LogRecordTopics

◆ 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.

See also: SetNetworkRole(const std::string &_role)

◆ NetworkSecondaries()

unsigned int NetworkSecondaries ( ) const

Get the number of secondary servers that a primary server should expect.

Returns: Number of secondary servers.

See also: SetNetworkSecondaries(unsigned int _secondaries)

◆ operator=()

ServerConfig & operator= ( const ServerConfig & _cfg )

Equal operator.

Parameters

[in] _cfg ServerConfig to copy.

Returns: Reference to this class.

◆ 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.

◆ RenderEngineGuiApiBackend()

const std::string & RenderEngineGuiApiBackend ( ) const

Returns: Api backend for gui. See SetRenderEngineGuiApiBackend()

◆ RenderEngineServer()

const std::string & RenderEngineServer ( ) const

Render engine plugin library to load.

Returns: File containing render engine library.

◆ RenderEngineServerApiBackend()

const std::string & RenderEngineServerApiBackend ( ) const

Returns: Api backend for server. See SetRenderEngineServerApiBackend()

◆ ResourceCache()

const std::string & ResourceCache ( ) const

Path to where simulation resources, such as models downloaded from fuel.gazebosim.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 ~/.gz/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.

◆ SdfRoot()

std::optional< sdf::Root > & SdfRoot ( ) const

Get the SDF Root DOM object.

Returns: SDF Root object to use, or std::nullopt if the sdf::Root has not been set via ServerConfig::SetSdfRoot().

◆ 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.

◆ SetBehaviorOnSdfErrors()

void SetBehaviorOnSdfErrors ( SdfErrorBehavior _behavior )

Set the server behavior when SDF errors are encountered while.

loading the server.

Parameters

[in] _behavior Server behavior when SDF errors are encounted.

◆ SetHeadlessRendering()

void SetHeadlessRendering ( const bool _headless )

Set the headless mode.

Parameters

[in] _headless Set to true to enable headless mode.

◆ SetInitialSimTime()

void SetInitialSimTime ( const double & _initialSimTime ) const

Set the initial simulation time in seconds.

Parameters

[in] _initialSimTime The desired initial simulation time in seconds.

◆ 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

◆ SetLogRecordPeriod()

void SetLogRecordPeriod ( const std::chrono::steady_clock::duration & _period )

Set time period to record states.

Parameters

[in] _period Time period to record 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.

See also: SetNetworkSecondaries(unsigned int _secondaries)

◆ 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.

See also: SetNetworkRole(const std::string &_role); NetworkRole() const

◆ 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.

◆ SetRenderEngineGuiApiBackend()

void SetRenderEngineGuiApiBackend ( const std::string & _apiBackend )

Set the render engine gui API backend.

Parameters

[in] _apiBackend See –render-engine-gui-api-backend for possible options

◆ SetRenderEngineServer()

void SetRenderEngineServer ( const std::string & _renderEngineServer )

Set the render engine server plugin library.

Parameters

[in] _renderEngineServer File containing render engine library.

◆ SetRenderEngineServerApiBackend()

void SetRenderEngineServerApiBackend ( const std::string & _apiBackend )

Set the render engine server API backend.

Parameters

[in] _apiBackend See –render-engine-server-api-backend for possible options

◆ SetResourceCache()

void SetResourceCache ( const std::string & _path )

Set the path to where simulation resources, such as models downloaded from fuel.gazebosim.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 ~/.gz/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: True if the file was set, false if the file was not set. The file will not be set if the provide _file string is empty.

◆ SetSdfRoot()

void SetSdfRoot ( const sdf::Root & _root ) const

Set the SDF Root DOM object. The sdf::Root object will take precendence over ServerConfig::SdfString() and ServerConfig::SdfFile().

Parameters

[in] _root SDF Root object to 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

◆ Source()

SourceType Source ( ) const

Get the type of source.

Returns: The source type.

◆ 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

See also: SetNetworkRole(const std::string &_role)

◆ 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:

ServerConfig.hh

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ SdfErrorBehavior

◆ SourceType

Constructor & Destructor Documentation

◆ ServerConfig() [1/2]

◆ ServerConfig() [2/2]

◆ ~ServerConfig()

Member Function Documentation

◆ AddLogRecordTopic()

◆ AddPlugin()

◆ AddPlugins()

◆ BehaviorOnSdfErrors()

◆ ClearLogRecordTopics()

◆ HeadlessRendering()

◆ InitialSimTime()

◆ LogPlaybackPath()

◆ LogPlaybackPlugin()

◆ LogRecordCompressPath()

◆ LogRecordPath()

◆ LogRecordPeriod()

◆ LogRecordPlugin()

◆ LogRecordResources()

◆ LogRecordTopics()

◆ NetworkRole()

◆ NetworkSecondaries()

◆ operator=()

◆ PhysicsEngine()

◆ Plugins()

◆ RenderEngineGui()

◆ RenderEngineGuiApiBackend()

◆ RenderEngineServer()

◆ RenderEngineServerApiBackend()

◆ ResourceCache()

◆ SdfFile()

◆ SdfRoot()

◆ SdfString()

◆ Seed()

◆ SetBehaviorOnSdfErrors()

◆ SetHeadlessRendering()

◆ SetInitialSimTime()

◆ SetLogPlaybackPath()

◆ SetLogRecordCompressPath()

◆ SetLogRecordPath()

◆ SetLogRecordPeriod()

◆ SetLogRecordResources()

◆ SetNetworkRole()

◆ SetNetworkSecondaries()

◆ SetPhysicsEngine()

◆ SetRenderEngineGui()

◆ SetRenderEngineGuiApiBackend()

◆ SetRenderEngineServer()

◆ SetRenderEngineServerApiBackend()

◆ SetResourceCache()

◆ SetSdfFile()

◆ SetSdfRoot()

◆ SetSdfString()

◆ SetSeed()

◆ SetUpdateRate()

◆ SetUseLevels()

◆ SetUseLogRecord()

◆ Source()

◆ Timestamp()

◆ UpdatePeriod()

◆ UpdateRate()

◆ UseDistributedSimulation()

◆ UseLevels()

◆ UseLogRecord()