Merge pull request #379 from robotology/feature/remove_ecm_provider

Remove the need to use a singleton to get the ECM pointer
robotology · Aug 24, 2021 · 450bbf4 · 450bbf4
2 parents 633f2f5 + 6471ddf
commit 450bbf4
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Showing 12 changed files with 119 additions and 632 deletions.
diff --git a/python/gym_ignition/runtimes/gazebo_runtime.py b/python/gym_ignition/runtimes/gazebo_runtime.py
@@ -2,8 +2,10 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+from typing import Optional
+
 import gym_ignition_models
-from gym_ignition import base, utils
+from gym_ignition import base
 from gym_ignition.base import runtime
 from gym_ignition.utils import logger
 from gym_ignition.utils.typing import *
@@ -52,7 +54,7 @@ def __init__(
             gym.logger.debug(f"{dict({arg: values[arg] for arg in args})}")
 
         # Gazebo attributes
-        self._gazebo = None
+        self._gazebo: Optional[scenario.GazeboSimulator] = None
         self._physics_rate = physics_rate
         self._real_time_factor = real_time_factor
 
@@ -225,18 +227,14 @@ def world(self) -> scenario.World:
         if self._gazebo is None:
             raise RuntimeError("Gazebo has not yet been created")
 
-        # Help type hinting
-        self._gazebo: scenario.GazeboSimulator
-
         if self._gazebo.initialized():
             raise RuntimeError("Gazebo was already initialized, cannot insert world")
 
         if self._world_sdf is None:
             self._world_sdf = ""
-            self._world_name = utils.scenario.get_unique_world_name("default")
+            self._world_name = "default"
         else:
-            sdf_world_name = scenario.get_world_name_from_sdf(self._world_sdf)
-            self._world_name = utils.scenario.get_unique_world_name(sdf_world_name)
+            self._world_name = scenario.get_world_name_from_sdf(self._world_sdf)
 
         # Load the world
         ok_world = self._gazebo.insert_world_from_sdf(self._world_sdf, self._world_name)

diff --git a/python/gym_ignition/utils/scenario.py b/python/gym_ignition/utils/scenario.py
@@ -46,19 +46,6 @@ def get_unique_model_name(world: scenario.World, model_name: str) -> str:
     return model_name_tentative
 
 
-def get_unique_world_name(world_name: str) -> str:
-
-    postfix = 0
-    world_name_tentative = f"{world_name}"
-    ecm_singleton = scenario.ECMSingleton_instance()
-
-    while world_name_tentative in ecm_singleton.world_names():
-        postfix += 1
-        world_name_tentative = f"{world_name}{postfix}"
-
-    return world_name_tentative
-
-
 def init_gazebo_sim(
     step_size: float = 0.001, real_time_factor: float = 1.0, steps_per_run: int = 1
 ) -> Tuple[scenario.GazeboSimulator, Union[scenario.World, core.World]]:

diff --git a/scenario/bindings/gazebo/CMakeLists.txt b/scenario/bindings/gazebo/CMakeLists.txt
@@ -19,7 +19,6 @@ target_link_libraries(${scenario_swig_name}
     PUBLIC
     ScenarioGazebo::ScenarioGazebo
     ScenarioGazebo::GazeboSimulator
-    ECMSingleton
     Python3::Python)
 add_library(ScenarioSwig::Gazebo ALIAS gazebo)
 

diff --git a/scenario/bindings/gazebo/gazebo.i b/scenario/bindings/gazebo/gazebo.i
@@ -9,7 +9,6 @@
 #include "scenario/gazebo/Model.h"
 #include "scenario/gazebo/utils.h"
 #include "scenario/gazebo/World.h"
-#include "scenario/plugins/gazebo/ECMSingleton.h"
 #include <cstdint>
 %}
 
@@ -59,7 +58,6 @@ namespace scenario::gazebo::utils {
 %rename("") Verbosity;
 %rename("") JointLimit;
 %rename("") ContactPoint;
-%rename("") ECMSingleton;
 %rename("") GazeboEntity;
 %rename("") PhysicsEngine;
 %rename("") GazeboSimulator;
@@ -105,10 +103,3 @@ namespace scenario::gazebo::utils {
 
 // GazeboSimulator
 %include "scenario/gazebo/GazeboSimulator.h"
-
-// ECMSingleton
-%ignore scenario::plugins::gazebo::ECMSingleton::clean;
-%ignore scenario::plugins::gazebo::ECMSingleton::getECM;
-%ignore scenario::plugins::gazebo::ECMSingleton::getEventManager;
-%ignore scenario::plugins::gazebo::ECMSingleton::storePtrs;
-%include "scenario/plugins/gazebo/ECMSingleton.h"
diff --git a/scenario/src/gazebo/CMakeLists.txt b/scenario/src/gazebo/CMakeLists.txt
@@ -127,7 +127,6 @@ target_link_libraries(GazeboSimulator
     ScenarioCore::CoreUtils
     ScenarioGazebo::ScenarioGazebo
     ScenarioGazebo::ExtraComponents
-    ScenarioGazeboPlugins::ECMSingleton
     ${ignition-fuel_tools.ignition-fuel_tools})
 
 set_target_properties(GazeboSimulator PROPERTIES