ServerConfig Class Reference

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