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Port IGN macros to GZ #216

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Jun 20, 2022
Merged

Port IGN macros to GZ #216

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2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/AcousticCommsPlugin.cc
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Expand Up @@ -355,7 +355,7 @@ void AcousticCommsPlugin::PreUpdate(

}

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
tethys::AcousticCommsPlugin,
gz::sim::System,
tethys::AcousticCommsPlugin::ISystemConfigure,
Expand Down
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/ControlPanelPlugin.cc
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Expand Up @@ -110,5 +110,5 @@ void ControlPanel::SetBuoyancyEngine(qreal _volume)
}

// Register this plugin
IGNITION_ADD_PLUGIN(tethys::ControlPanel,
GZ_ADD_PLUGIN(tethys::ControlPanel,
gz::gui::Plugin)
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc
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Expand Up @@ -361,7 +361,7 @@ void HydrodynamicsPlugin::PreUpdate(

};

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
tethys::HydrodynamicsPlugin,
gz::sim::System,
tethys::HydrodynamicsPlugin::ISystemConfigure,
Expand Down
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/RangeBearingPlugin.cc
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Expand Up @@ -342,7 +342,7 @@ void RangeBearingPlugin::PreUpdate(

}

IGNITION_ADD_PLUGIN(tethys::RangeBearingPlugin,
GZ_ADD_PLUGIN(tethys::RangeBearingPlugin,
gz::sim::System,
tethys::RangeBearingPlugin::ISystemConfigure,
tethys::RangeBearingPlugin::ISystemPreUpdate)
6 changes: 3 additions & 3 deletions lrauv_ignition_plugins/src/ReferenceAxis.cc
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Expand Up @@ -219,7 +219,7 @@ void ReferenceAxisPrivate::OnPreRender()
{
this->nedVis = this->scene->CreateAxisVisual();
this->scene->RootVisual()->AddChild(this->nedVis);
this->nedVis->SetLocalRotation(IGN_PI, 0, IGN_PI * 0.5);
this->nedVis->SetLocalRotation(GZ_PI, 0, GZ_PI * 0.5);
this->nedVis->SetLocalScale(0.25, 0.25, 0.25);

// Ogre2 doesn't support text yet
Expand Down Expand Up @@ -265,7 +265,7 @@ void ReferenceAxisPrivate::OnPreRender()
vehicleVis->AddChild(fskVis);
// TODO(chapulina) This rotation won't be needed if we update the model
// https://github.com/osrf/lrauv/issues/80
fskVis->SetLocalRotation(IGN_PI, 0, IGN_PI * 0.5);
fskVis->SetLocalRotation(GZ_PI, 0, GZ_PI * 0.5);

// Ogre2 doesn't support text yet
auto textGeom = this->scene->CreateText();
Expand All @@ -288,5 +288,5 @@ void ReferenceAxisPrivate::OnPreRender()
}

// Register this plugin
IGNITION_ADD_PLUGIN(tethys::ReferenceAxis,
GZ_ADD_PLUGIN(tethys::ReferenceAxis,
gz::gui::Plugin)
20 changes: 10 additions & 10 deletions lrauv_ignition_plugins/src/ScienceSensorsSystem.cc
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Expand Up @@ -389,7 +389,7 @@ float ScienceSensorsSystemPrivate::InterpolateInTime(
bool ScienceSensorsSystemPrivate::ReadData(
const gz::sim::EntityComponentManager &_ecm)
{
IGN_PROFILE("ScienceSensorsSystemPrivate::ReadData");
GZ_PROFILE("ScienceSensorsSystemPrivate::ReadData");

if (!this->sphericalCoordinatesInitialized)
{
Expand Down Expand Up @@ -611,7 +611,7 @@ bool ScienceSensorsSystemPrivate::ReadData(
/////////////////////////////////////////////////
void ScienceSensorsSystemPrivate::PublishData()
{
IGN_PROFILE("ScienceSensorsSystemPrivate::PublishData");
GZ_PROFILE("ScienceSensorsSystemPrivate::PublishData");
this->tempPub.Publish(this->tempMsg);
this->chlorPub.Publish(this->chlorMsg);
this->salPub.Publish(this->salMsg);
Expand Down Expand Up @@ -708,8 +708,8 @@ void ScienceSensorsSystem::PreUpdate(
void ScienceSensorsSystem::PostUpdate(const gz::sim::UpdateInfo &_info,
const gz::sim::EntityComponentManager &_ecm)
{
IGN_PROFILE_THREAD_NAME("ScienceSensorsSystem PostUpdate");
IGN_PROFILE("ScienceSensorsSystem::PostUpdate");
GZ_PROFILE_THREAD_NAME("ScienceSensorsSystem PostUpdate");
GZ_PROFILE("ScienceSensorsSystem::PostUpdate");

this->RemoveSensorEntities(_ecm);

Expand Down Expand Up @@ -777,7 +777,7 @@ void ScienceSensorsSystem::PostUpdate(const gz::sim::UpdateInfo &_info,
// to generate data for that sensor.
for (auto &[entity, sensor] : this->entitySensorMap)
{
IGN_PROFILE("ScienceSensorsSystem::LookupInterpolators");
GZ_PROFILE("ScienceSensorsSystem::LookupInterpolators");
auto sensorPosENU = gz::sim::worldPose(entity, _ecm).Pos();
auto spherical = gz::sim::sphericalCoordinates(entity, _ecm).value();
auto sphericalDepthCorrected = gz::math::Vector3d{spherical.X(), spherical.Y(),
Expand Down Expand Up @@ -834,7 +834,7 @@ void ScienceSensorsSystem::PostUpdate(const gz::sim::UpdateInfo &_info,
void ScienceSensorsSystem::RemoveSensorEntities(
const gz::sim::EntityComponentManager &_ecm)
{
IGN_PROFILE("ScienceSensorsSystem::RemoveSensorEntities");
GZ_PROFILE("ScienceSensorsSystem::RemoveSensorEntities");

_ecm.EachRemoved<gz::sim::components::CustomSensor>(
[&](const gz::sim::Entity &_entity,
Expand Down Expand Up @@ -891,7 +891,7 @@ bool ScienceSensorsSystemPrivate::SalinityService(
//////////////////////////////////////////////////
gz::msgs::PointCloudPacked ScienceSensorsSystemPrivate::PointCloudMsg()
{
IGN_PROFILE("ScienceSensorsSystemPrivate::PointCloudMsg");
GZ_PROFILE("ScienceSensorsSystemPrivate::PointCloudMsg");

gz::msgs::PointCloudPacked msg;

Expand Down Expand Up @@ -933,12 +933,12 @@ gz::msgs::PointCloudPacked ScienceSensorsSystemPrivate::PointCloudMsg()
return msg;
}

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
tethys::ScienceSensorsSystem,
gz::sim::System,
tethys::ScienceSensorsSystem::ISystemConfigure,
tethys::ScienceSensorsSystem::ISystemPreUpdate,
tethys::ScienceSensorsSystem::ISystemPostUpdate)

IGNITION_ADD_PLUGIN_ALIAS(tethys::ScienceSensorsSystem,
"tethys::ScienceSensorsSystem")
GZ_ADD_PLUGIN_ALIAS(tethys::ScienceSensorsSystem,
"tethys::ScienceSensorsSystem")
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/SpawnPanelPlugin.cc
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Expand Up @@ -94,5 +94,5 @@ void SpawnPanel::Update(const gz::sim::UpdateInfo &,
}

// Register this plugin
IGNITION_ADD_PLUGIN(tethys::SpawnPanel,
GZ_ADD_PLUGIN(tethys::SpawnPanel,
gz::gui::Plugin)
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/TethysCommPlugin.cc
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Expand Up @@ -710,7 +710,7 @@ void TethysCommPlugin::PostUpdate(
}
}

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
tethys::TethysCommPlugin,
gz::sim::System,
tethys::TethysCommPlugin::ISystemConfigure,
Expand Down
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/TimeAnalysisPlugin.cc
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Expand Up @@ -143,7 +143,7 @@ void TimeAnalysisPlugin::PostUpdate(
}
}

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
tethys::TimeAnalysisPlugin,
gz::sim::System,
tethys::TimeAnalysisPlugin::ISystemConfigure,
Expand Down
4 changes: 2 additions & 2 deletions lrauv_ignition_plugins/src/WorldCommPlugin.cc
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Expand Up @@ -203,7 +203,7 @@ void WorldCommPlugin::SpawnCallback(
// The robot model is facing its own -X, so with zero ENU orientation it faces
// West. We add an extra 90 degree yaw so zero means North, to conform with
// NED.
auto rotRobot = gz::math::Quaterniond(0.0, 0.0, -IGN_PI * 0.5) * rotENU;
auto rotRobot = gz::math::Quaterniond(0.0, 0.0, -GZ_PI * 0.5) * rotENU;

gz::msgs::Set(factoryReq.mutable_pose()->mutable_orientation(), rotRobot);

Expand Down Expand Up @@ -313,7 +313,7 @@ std::string WorldCommPlugin::TethysSdfString(const lrauv_ignition_plugins::msgs:
return sdfStr;
}

IGNITION_ADD_PLUGIN(
GZ_ADD_PLUGIN(
tethys::WorldCommPlugin,
gz::sim::System,
tethys::WorldCommPlugin::ISystemConfigure)
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/WorldConfigPlugin.cc
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Expand Up @@ -66,5 +66,5 @@ void WorldConfig::SetFilePath(QUrl _filePath)

}
// Register this plugin
IGNITION_ADD_PLUGIN(tethys::WorldConfig,
GZ_ADD_PLUGIN(tethys::WorldConfig,
gz::gui::Plugin)
2 changes: 1 addition & 1 deletion lrauv_ignition_plugins/src/comms/models/SimpleAcousticModel.cc
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Expand Up @@ -123,6 +123,6 @@ class SimpleAcousticModel : public ICommsModel
}
};

IGNITION_ADD_PLUGIN(SimpleAcousticModel,
GZ_ADD_PLUGIN(SimpleAcousticModel,
SimpleAcousticModel::ICommsModel)
}
2 changes: 1 addition & 1 deletion lrauv_system_tests/test/dynamics/test_hydrodynamics.cc
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Expand Up @@ -107,7 +107,7 @@ TEST(HydrodynamicsTest, DampForwardThrust)
gz::msgs::Double thrustCommand;
// Vehicle is supposed to move at around 1 m/s with a 300 RPM thrust.
// 300 RPM = 300 * 2 pi / 60 = 10 pi rad/s
thrustCommand.set_data(10. * IGN_PI);
thrustCommand.set_data(10. * GZ_PI);
for (auto &publisher : fixture.ThrustPublishers())
{
using namespace std::literals::chrono_literals;
Expand Down
4 changes: 2 additions & 2 deletions lrauv_system_tests/test/missions/test_depth_vbs_mission.cc
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Expand Up @@ -66,8 +66,8 @@ TEST(MissionTest, DepthVBS)
if (times[i] > 3min) // Initialization is complete
{
// Vehicle should not go vertical when tilting nose
EXPECT_LT(poses[i].Rot().Euler().X(), IGN_DTOR(10));
EXPECT_GT(poses[i].Rot().Euler().X(), IGN_DTOR(-10));
EXPECT_LT(poses[i].Rot().Euler().X(), GZ_DTOR(10));
EXPECT_GT(poses[i].Rot().Euler().X(), GZ_DTOR(-10));
}

// Vehicle should not exceed 20m depth
Expand Down
12 changes: 6 additions & 6 deletions lrauv_system_tests/test/missions/test_pitch_mass_mission.cc
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Expand Up @@ -80,13 +80,13 @@ TEST(MissionTest, PitchMass)
// Max Pitch 20 degrees, allowing for an error of
// up to 5 degrees to accomodate for oscillations
// during pitch control.
EXPECT_LT(poses[i].Rot().Euler().X(), IGN_DTOR(25));
EXPECT_GT(poses[i].Rot().Euler().X(), IGN_DTOR(-5));
EXPECT_LT(poses[i].Rot().Euler().X(), GZ_DTOR(25));
EXPECT_GT(poses[i].Rot().Euler().X(), GZ_DTOR(-5));
}

// No roll or yaw
EXPECT_NEAR(poses[i].Rot().Euler().Y(), IGN_DTOR(0), 1e-2);
EXPECT_NEAR(poses[i].Rot().Euler().Z(), IGN_DTOR(0), 1e-2);
EXPECT_NEAR(poses[i].Rot().Euler().Y(), GZ_DTOR(0), 1e-2);
EXPECT_NEAR(poses[i].Rot().Euler().Z(), GZ_DTOR(0), 1e-2);

// Used later for oscillation check.
if (!firstPitch)
Expand All @@ -96,7 +96,7 @@ TEST(MissionTest, PitchMass)
}

// Check if we cross the 20 degree mark
if (prevPitch <= IGN_DTOR(20) && poses[i].Rot().Euler().X() >= IGN_DTOR(20))
if (prevPitch <= GZ_DTOR(20) && poses[i].Rot().Euler().X() >= GZ_DTOR(20))
{
reachedTarget = true;
}
Expand All @@ -110,7 +110,7 @@ TEST(MissionTest, PitchMass)
// Check for oscillation by summing over abs delta in pitch
// Essentially \Sigma abs(f'(x)) < C. In this case C should be near 2*20
// degrees as the vehicle first pitches down and then comes back up.
EXPECT_LE(totalPitchChange, IGN_DTOR(20) * 2.);
EXPECT_LE(totalPitchChange, GZ_DTOR(20) * 2.);

// Make sure the vehicle actually pitched to 20 degrees.
EXPECT_TRUE(reachedTarget);
Expand Down
4 changes: 2 additions & 2 deletions lrauv_system_tests/test/missions/test_yoyo_circle_mission.cc
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Expand Up @@ -62,8 +62,8 @@ TEST(MissionTest, YoYoCircle)
for (size_t i = 0; i < times.size(); ++i)
{
// Pitch should be between -20 and 20 degrees
EXPECT_LT(IGN_DTOR(-20), poses[i].Rot().Pitch());
EXPECT_GT(IGN_DTOR(20), poses[i].Rot().Pitch());
EXPECT_LT(GZ_DTOR(-20), poses[i].Rot().Pitch());
EXPECT_GT(GZ_DTOR(20), poses[i].Rot().Pitch());

if (times[i] > 2min)
{
Expand Down
14 changes: 7 additions & 7 deletions lrauv_system_tests/test/simulation/test_spawn.cc
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Expand Up @@ -93,8 +93,8 @@ TEST(VehicleSpawnTest, Spawn)
ASSERT_TRUE(WaitForConnections(spawnPublisher, 5s));

// No specific orientation, vehicle will face North
const gz::math::Angle lat1 = IGN_DTOR(20.0);
const gz::math::Angle lon1 = IGN_DTOR(20.0);
const gz::math::Angle lat1 = GZ_DTOR(20.0);
const gz::math::Angle lon1 = GZ_DTOR(20.0);
{
lrauv_ignition_plugins::msgs::LRAUVInit spawnMessage;
spawnMessage.mutable_id_()->set_data("vehicle1");
Expand All @@ -118,9 +118,9 @@ TEST(VehicleSpawnTest, Spawn)

// Spawn vehicle facing South
// Orientation is in NED, so 180 degrees yaw is South
const gz::math::Angle lat2 = IGN_DTOR(20.1);
const gz::math::Angle lon2 = IGN_DTOR(20.1);
const gz::math::Angle yaw2 = IGN_DTOR(180);
const gz::math::Angle lat2 = GZ_DTOR(20.1);
const gz::math::Angle lon2 = GZ_DTOR(20.1);
const gz::math::Angle yaw2 = GZ_DTOR(180);
const double depth2 = 10.0;
{
lrauv_ignition_plugins::msgs::LRAUVInit spawnMessage;
Expand Down Expand Up @@ -171,7 +171,7 @@ TEST(VehicleSpawnTest, Spawn)
// Facing North (-90 rotation from default West orientation)
EXPECT_NEAR(0.0, lastPose1.Rot().Roll(), tightTol);
EXPECT_NEAR(0.0, lastPose1.Rot().Pitch(), tightTol);
EXPECT_NEAR(-IGN_PI*0.5, lastPose1.Rot().Yaw(), tightTol);
EXPECT_NEAR(-GZ_PI*0.5, lastPose1.Rot().Yaw(), tightTol);

const auto &lastLatLon1 = observer1.SphericalCoordinates().back();
EXPECT_NEAR(lat1.Degree(), lastLatLon1.X(), tightTol);
Expand Down Expand Up @@ -202,5 +202,5 @@ TEST(VehicleSpawnTest, Spawn)
// it has a 90 degree yaw in ENU
EXPECT_NEAR(0.0, lastPose2.Rot().Roll(), tightTol);
EXPECT_NEAR(0.0, lastPose2.Rot().Pitch(), tightTol);
EXPECT_NEAR(IGN_DTOR(90), lastPose2.Rot().Yaw(), tightTol);
EXPECT_NEAR(GZ_DTOR(90), lastPose2.Rot().Yaw(), tightTol);
}
12 changes: 6 additions & 6 deletions lrauv_system_tests/test/simulation/test_state.cc
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Expand Up @@ -46,9 +46,9 @@ class VehicleStateTest : public ::testing::Test

protected: lrauv_system_tests::VehicleStateTestFixture fixture;

protected: const gz::math::Angle initialLat{IGN_DTOR(35.5999984741211)};
protected: const gz::math::Angle initialLat{GZ_DTOR(35.5999984741211)};

protected: const gz::math::Angle initialLon{IGN_DTOR(-121.779998779297)};
protected: const gz::math::Angle initialLon{GZ_DTOR(-121.779998779297)};
};

// Checks that don't change throughout the test
Expand Down Expand Up @@ -124,7 +124,7 @@ TEST_F(VehicleStateTest, ThrustState)
// Propel vehicle forward by giving the propeller a positive
// angular velocity. Vehicle is supposed to move at around
// 1 m/s with 300 RPM. 300 RPM = 300 * 2 pi / 60 = 10 pi rad/s
command.set_propomegaaction_(10 * IGN_PI);
command.set_propomegaaction_(10 * GZ_PI);

// Neutral buoyancy
command.set_buoyancyaction_(0.0005);
Expand Down Expand Up @@ -153,7 +153,7 @@ TEST_F(VehicleStateTest, ThrustState)
CheckInvariants(latestState);

// Actuators
EXPECT_NEAR(10.0 * IGN_PI, latestState.propomega_(), 1e-6);
EXPECT_NEAR(10.0 * GZ_PI, latestState.propomega_(), 1e-6);
EXPECT_NEAR(0.0, latestState.rudderangle_(), 1e-3);
EXPECT_NEAR(0.0005, latestState.buoyancyposition_(), 1e-6);

Expand Down Expand Up @@ -196,7 +196,7 @@ TEST_F(VehicleStateTest, ThrustAndTurnState)
// Propel vehicle forward by giving the propeller a positive
// angular velocity. Vehicle is supposed to move at around
// 1 m/s with 300 RPM. 300 RPM = 300 * 2 pi / 60 = 10 pi rad/s
command.set_propomegaaction_(10 * IGN_PI);
command.set_propomegaaction_(10 * GZ_PI);

// Neutral buoyancy
command.set_buoyancyaction_(0.0005);
Expand Down Expand Up @@ -236,7 +236,7 @@ TEST_F(VehicleStateTest, ThrustAndTurnState)
CheckInvariants(latestState);

// Actuators
EXPECT_NEAR(10.0 * IGN_PI, latestState.propomega_(), 1e-3);
EXPECT_NEAR(10.0 * GZ_PI, latestState.propomega_(), 1e-3);
EXPECT_NEAR(-0.5, latestState.rudderangle_(), 0.06);
EXPECT_NEAR(0.0005, latestState.buoyancyposition_(), 1e-6);

Expand Down
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