diff --git a/CMakeLists.txt b/CMakeLists.txt index 8c035ba022..991e32e713 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -26,9 +26,9 @@ set (CMAKE_CXX_STANDARD 17) option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE) if(ENABLE_PROFILER) - add_definitions("-DIGN_PROFILER_ENABLE=1") + add_definitions("-DGZ_PROFILER_ENABLE=1") else() - add_definitions("-DIGN_PROFILER_ENABLE=0") + add_definitions("-DGZ_PROFILER_ENABLE=0") endif() if (UNIX AND NOT APPLE) diff --git a/Migration.md b/Migration.md index 20ad65c9d7..e56371fd6a 100644 --- a/Migration.md +++ b/Migration.md @@ -17,15 +17,20 @@ release will remove the deprecated code. Use `gz/...` instead. * Configuration and log files are stored under `$HOME/.gz/sim` instead of `$HOME/.ignition/gazebo` -* The following `IGN_` prefixed environment variables are deprecated and will be removed in future versions. - Use the `GZ_` prefixed versions instead! +* The following `IGN_GAZEBO_` prefixed environment variables are deprecated and will be removed in future versions. + Use the `GZ_SIM_` prefixed versions instead! * `IGN_GAZEBO_RENDER_ENGINE_PATH` -> `GZ_SIM_RENDER_ENGINE_PATH` * `IGN_GAZEBO_PHYSICS_ENGINE_PATH` -> `GZ_SIM_PHYSICS_ENGINE_PATH` * `IGN_GAZEBO_SYSTEM_PLUGIN_PATH` -> `GZ_SIM_SYSTEM_PLUGIN_PATH` * `IGN_DEBUG_COMPONENT_FACTORY` -> `GZ_DEBUG_COMPONENT_FACTORY` * `IGN_GAZEBO_RESOURCE_PATH` -> `GZ_SIM_RESOURCE_PATH` * `IGN_GAZEBO_SERVER_CONFIG_PATH` -> `GZ_SIM_SERVER_CONFIG_PATH` - +* The following `IGN_GAZEBO_` prefixed macros variables are deprecated and will be removed in future versions. + Use the `GZ_SIM_` prefixed versions instead! + * `IGN_GAZEBO_REGISTER_COMPONENT` + * `IGN_GAZEBO_PLUGIN_INSTALL_DIR` + * `IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR` + * `IGN_GAZEBO_WORLD_INSTALL_DIR` ## Gazebo Sim 6.1 to 6.2 diff --git a/docker/Dockerfile.gz b/docker/Dockerfile.gz index c54a0910f2..9fa2b76061 100644 --- a/docker/Dockerfile.gz +++ b/docker/Dockerfile.gz @@ -1,7 +1,7 @@ # Purpose # # This docker file is used by build.bash and run.bash to build and run -# an Gazebo distribution based on binaries. See the README.md file. +# a Gazebo distribution based on binaries. See the README.md file. # Ubuntu 20.04 with nvidia opengl support FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04 diff --git a/docker/README.md b/docker/README.md index 6d2c3399e4..51a9006e9f 100644 --- a/docker/README.md +++ b/docker/README.md @@ -57,7 +57,7 @@ use the Gazebo code found in the current source tree. ## Gazebo Using Debians In Docker -This section describes how to build and run a docker image of an Gazebo +This section describes how to build and run a docker image of a Gazebo distribution using debians. **Requirements** diff --git a/docker/build.bash b/docker/build.bash index d0f05fb153..0f7db5cc07 100755 --- a/docker/build.bash +++ b/docker/build.bash @@ -1,7 +1,7 @@ #!/usr/bin/env bash # # Purpose -# This script is designed to build a docker image of an Gazebo distribution. +# This script is designed to build a docker image of a Gazebo distribution. # See README.md and run.bash for more information. if [ $# -eq 0 ] diff --git a/examples/plugin/command_actor/CommandActor.cc b/examples/plugin/command_actor/CommandActor.cc index 6761e62325..29e2139c28 100644 --- a/examples/plugin/command_actor/CommandActor.cc +++ b/examples/plugin/command_actor/CommandActor.cc @@ -19,7 +19,7 @@ #include #include -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( command_actor::CommandActor, gz::sim::System, command_actor::CommandActor::ISystemConfigure, diff --git a/examples/plugin/custom_component/CustomComponentPlugin.cc b/examples/plugin/custom_component/CustomComponentPlugin.cc index f2fdc39aca..74b3aaf3e6 100644 --- a/examples/plugin/custom_component/CustomComponentPlugin.cc +++ b/examples/plugin/custom_component/CustomComponentPlugin.cc @@ -18,7 +18,7 @@ #include -IGNITION_ADD_PLUGIN(examples::CustomComponentPlugin, +GZ_ADD_PLUGIN(examples::CustomComponentPlugin, gz::sim::System, examples::CustomComponentPlugin::ISystemConfigure) diff --git a/examples/plugin/custom_component/CustomComponentPlugin.hh b/examples/plugin/custom_component/CustomComponentPlugin.hh index e75703fec2..67b85a621a 100644 --- a/examples/plugin/custom_component/CustomComponentPlugin.hh +++ b/examples/plugin/custom_component/CustomComponentPlugin.hh @@ -36,7 +36,7 @@ using CustomComponent = // Use this macro to register a component. Give it a unique name across the // entire simulation. -IGN_GAZEBO_REGISTER_COMPONENT("examples::CustomComponent", CustomComponent) +GZ_SIM_REGISTER_COMPONENT("examples::CustomComponent", CustomComponent) class CustomComponentPlugin : public gz::sim::System, diff --git a/examples/plugin/custom_sensor_system/OdometerSystem.cc b/examples/plugin/custom_sensor_system/OdometerSystem.cc index 2fd48d18dd..9144f1b059 100644 --- a/examples/plugin/custom_sensor_system/OdometerSystem.cc +++ b/examples/plugin/custom_sensor_system/OdometerSystem.cc @@ -124,9 +124,9 @@ void OdometerSystem::RemoveSensorEntities( }); } -IGNITION_ADD_PLUGIN(OdometerSystem, gz::sim::System, +GZ_ADD_PLUGIN(OdometerSystem, gz::sim::System, OdometerSystem::ISystemPreUpdate, OdometerSystem::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(OdometerSystem, "custom::OdometerSystem") +GZ_ADD_PLUGIN_ALIAS(OdometerSystem, "custom::OdometerSystem") diff --git a/examples/plugin/custom_sensor_system/odometer.sdf b/examples/plugin/custom_sensor_system/odometer.sdf index 610ace2cc9..a0724a5a3b 100644 --- a/examples/plugin/custom_sensor_system/odometer.sdf +++ b/examples/plugin/custom_sensor_system/odometer.sdf @@ -86,7 +86,7 @@ - + 1 30 true diff --git a/examples/plugin/gui_system_plugin/GuiSystemPlugin.cc b/examples/plugin/gui_system_plugin/GuiSystemPlugin.cc index c7d94f4cbe..88af65f5c7 100644 --- a/examples/plugin/gui_system_plugin/GuiSystemPlugin.cc +++ b/examples/plugin/gui_system_plugin/GuiSystemPlugin.cc @@ -69,5 +69,5 @@ void GuiSystemPlugin::SetCustomProperty(const QString &_customProperty) } // Register this plugin -IGNITION_ADD_PLUGIN(GuiSystemPlugin, +GZ_ADD_PLUGIN(GuiSystemPlugin, gz::gui::Plugin) diff --git a/examples/plugin/hello_world/HelloWorld.cc b/examples/plugin/hello_world/HelloWorld.cc index ed16cbe5b7..199f6e4122 100644 --- a/examples/plugin/hello_world/HelloWorld.cc +++ b/examples/plugin/hello_world/HelloWorld.cc @@ -29,7 +29,7 @@ // This is required to register the plugin. Make sure the interfaces match // what's in the header. -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( hello_world::HelloWorld, gz::sim::System, hello_world::HelloWorld::ISystemPostUpdate) diff --git a/examples/plugin/rendering_plugins/RenderingGuiPlugin.cc b/examples/plugin/rendering_plugins/RenderingGuiPlugin.cc index e08fe3361a..213ebfb647 100644 --- a/examples/plugin/rendering_plugins/RenderingGuiPlugin.cc +++ b/examples/plugin/rendering_plugins/RenderingGuiPlugin.cc @@ -141,5 +141,5 @@ void RenderingGuiPlugin::FindScene() } // Register this plugin -IGNITION_ADD_PLUGIN(RenderingGuiPlugin, +GZ_ADD_PLUGIN(RenderingGuiPlugin, gz::gui::Plugin) diff --git a/examples/plugin/rendering_plugins/RenderingServerPlugin.cc b/examples/plugin/rendering_plugins/RenderingServerPlugin.cc index aed6c9eb6d..e2687c12c0 100644 --- a/examples/plugin/rendering_plugins/RenderingServerPlugin.cc +++ b/examples/plugin/rendering_plugins/RenderingServerPlugin.cc @@ -127,7 +127,7 @@ void RenderingServerPlugin::PreUpdate(const gz::sim::UpdateInfo &_info, this->simTime = _info.simTime; } -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( RenderingServerPlugin, gz::sim::System, RenderingServerPlugin::ISystemConfigure, diff --git a/examples/plugin/rendering_plugins/rendering_plugins.sdf b/examples/plugin/rendering_plugins/rendering_plugins.sdf index 88db41a5bc..13b34b74ec 100644 --- a/examples/plugin/rendering_plugins/rendering_plugins.sdf +++ b/examples/plugin/rendering_plugins/rendering_plugins.sdf @@ -18,11 +18,11 @@ - + 3D View false docked - + ogre2 scene @@ -33,33 +33,33 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + @@ -69,12 +69,12 @@ 5 floating false - + - + World control false false @@ -87,7 +87,7 @@ - + true true @@ -98,7 +98,7 @@ - + World stats false false @@ -111,7 +111,7 @@ - + true true @@ -120,24 +120,24 @@ - + Camera floating 350 315 - + camera false - + Rendering GUI Plugin floating 350 100 500 - + diff --git a/examples/plugin/reset_plugin/JointPositionRandomizer.cc b/examples/plugin/reset_plugin/JointPositionRandomizer.cc index fb160b2391..fde08ebc73 100644 --- a/examples/plugin/reset_plugin/JointPositionRandomizer.cc +++ b/examples/plugin/reset_plugin/JointPositionRandomizer.cc @@ -59,7 +59,7 @@ class JointPositionRandomizer : public System, } else if (jointType->Data() == sdf::JointType::REVOLUTE) { - pos = math::Rand::DblUniform(0, IGN_PI); + pos = math::Rand::DblUniform(0, GZ_PI); std::cout << "revolute joint (" << joint << ") pos: (" << pos << " rad)"<< std::endl; } @@ -71,7 +71,7 @@ class JointPositionRandomizer : public System, }; } // namespace reset_plugin -IGNITION_ADD_PLUGIN(reset_plugin::JointPositionRandomizer, +GZ_ADD_PLUGIN(reset_plugin::JointPositionRandomizer, gz::sim::System, reset_plugin::JointPositionRandomizer::ISystemConfigure, reset_plugin::JointPositionRandomizer::ISystemReset) diff --git a/examples/plugin/system_plugin/SampleSystem.cc b/examples/plugin/system_plugin/SampleSystem.cc index 56edc4ef59..9fae12a736 100644 --- a/examples/plugin/system_plugin/SampleSystem.cc +++ b/examples/plugin/system_plugin/SampleSystem.cc @@ -4,7 +4,7 @@ #include // Include a line in your source file for each interface implemented. -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( sample_system::SampleSystem, gz::sim::System, sample_system::SampleSystem::ISystemPostUpdate) diff --git a/examples/plugin/system_plugin/SampleSystem2.cc b/examples/plugin/system_plugin/SampleSystem2.cc index 02f4eb629a..2def3fb4a7 100644 --- a/examples/plugin/system_plugin/SampleSystem2.cc +++ b/examples/plugin/system_plugin/SampleSystem2.cc @@ -3,7 +3,7 @@ //! [registerSampleSystem2] #include -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( sample_system::SampleSystem2, gz::sim::System, sample_system::SampleSystem2::ISystemPreUpdate, diff --git a/examples/scripts/log_video_recorder/log_video_recorder.sdf b/examples/scripts/log_video_recorder/log_video_recorder.sdf index 1fb964b42a..ae27d48874 100644 --- a/examples/scripts/log_video_recorder/log_video_recorder.sdf +++ b/examples/scripts/log_video_recorder/log_video_recorder.sdf @@ -35,11 +35,11 @@ - + 3D View false docked - + ogre2 scene 0.4 0.4 0.4 @@ -47,22 +47,22 @@ -6 0 6 0 0.5 0 - + false 5 5 floating false - + - + false 5 5 floating false - + 0.01 true @@ -70,7 +70,7 @@ - + World control false false @@ -82,7 +82,7 @@ - + true true true @@ -91,7 +91,7 @@ true - + World stats false false @@ -103,7 +103,7 @@ - + true true true @@ -112,7 +112,7 @@ - + false 0 0 @@ -121,7 +121,7 @@ floating false #777777 - + true diff --git a/examples/worlds/camera_sensor.sdf b/examples/worlds/camera_sensor.sdf index aeff9c4dfd..8942a8f3c2 100644 --- a/examples/worlds/camera_sensor.sdf +++ b/examples/worlds/camera_sensor.sdf @@ -36,11 +36,11 @@ - + 3D View false docked - + ogre2 scene @@ -51,43 +51,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -100,7 +100,7 @@ - + true true @@ -111,7 +111,7 @@ - + World stats false false @@ -124,7 +124,7 @@ - + true true @@ -133,23 +133,23 @@ - + docked - + - + docked - + - + docked - + diff --git a/examples/worlds/conveyor.sdf b/examples/worlds/conveyor.sdf index 2bff704b05..1700ae1c0e 100644 --- a/examples/worlds/conveyor.sdf +++ b/examples/worlds/conveyor.sdf @@ -223,11 +223,11 @@ - + 3D View false docked - + ogre2 scene @@ -238,7 +238,7 @@ - + World control false false @@ -251,7 +251,7 @@ - + true true @@ -261,7 +261,7 @@ - + World stats false false @@ -274,7 +274,7 @@ - + true true @@ -284,7 +284,7 @@ - + Transform control @@ -296,12 +296,12 @@ floating false #666666 - + - + @@ -312,11 +312,11 @@ floating false #666666 - + - + @@ -326,11 +326,11 @@ 5 floating false - + - + Visualize Contacts @@ -342,7 +342,7 @@ floating false #ffffff - + diff --git a/examples/worlds/dem_monterey_bay.sdf b/examples/worlds/dem_monterey_bay.sdf index 1bb0854ccb..e5ab5e2738 100644 --- a/examples/worlds/dem_monterey_bay.sdf +++ b/examples/worlds/dem_monterey_bay.sdf @@ -16,11 +16,11 @@ - + 3D View false docked - + ogre scene @@ -31,42 +31,42 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -79,7 +79,7 @@ - + true true @@ -88,7 +88,7 @@ - + World stats false false @@ -101,7 +101,7 @@ - + true true @@ -110,15 +110,15 @@ - + docked - + - + docked - + diff --git a/examples/worlds/dem_volcano.sdf b/examples/worlds/dem_volcano.sdf index 30ed6e0c23..bd082561a9 100644 --- a/examples/worlds/dem_volcano.sdf +++ b/examples/worlds/dem_volcano.sdf @@ -14,11 +14,11 @@ - + 3D View false docked - + ogre scene @@ -29,42 +29,42 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -77,7 +77,7 @@ - + true true @@ -87,7 +87,7 @@ - + World stats false false @@ -100,7 +100,7 @@ - + true true @@ -109,15 +109,15 @@ - + docked - + - + docked - + diff --git a/examples/worlds/depth_camera_sensor.sdf b/examples/worlds/depth_camera_sensor.sdf index 0c4b1eb4ed..cb8196f433 100644 --- a/examples/worlds/depth_camera_sensor.sdf +++ b/examples/worlds/depth_camera_sensor.sdf @@ -26,11 +26,11 @@ - + 3D View false docked - + ogre2 scene @@ -41,45 +41,45 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + docked - + diff --git a/examples/worlds/empty_gui.sdf b/examples/worlds/empty_gui.sdf index 930bf1c8ee..e97bc0d15e 100644 --- a/examples/worlds/empty_gui.sdf +++ b/examples/worlds/empty_gui.sdf @@ -39,11 +39,11 @@ This example helps illustrate the interaction of the MinimalScene with other GUI - + 3D View false docked - + ogre2 scene diff --git a/examples/worlds/fuel_textured_mesh.sdf b/examples/worlds/fuel_textured_mesh.sdf index ca44e12f3c..27c1241724 100644 --- a/examples/worlds/fuel_textured_mesh.sdf +++ b/examples/worlds/fuel_textured_mesh.sdf @@ -38,11 +38,11 @@ - + 3D View false docked - + ogre2 scene @@ -53,44 +53,44 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -103,7 +103,7 @@ - + true true @@ -114,7 +114,7 @@ - + World stats false false @@ -127,7 +127,7 @@ - + true true @@ -136,9 +136,9 @@ - + docked - + diff --git a/examples/worlds/grid.sdf b/examples/worlds/grid.sdf index 0a62b9662d..7a032bdf6c 100644 --- a/examples/worlds/grid.sdf +++ b/examples/worlds/grid.sdf @@ -29,11 +29,11 @@ - + 3D View false docked - + ogre2 scene @@ -43,26 +43,26 @@ - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -75,7 +75,7 @@ - + true true @@ -86,7 +86,7 @@ - + World stats false false @@ -99,7 +99,7 @@ - + true true @@ -109,9 +109,9 @@ - + Grid Config - + diff --git a/examples/worlds/minimal_scene.sdf b/examples/worlds/minimal_scene.sdf index b0b7e50230..eee488cd11 100644 --- a/examples/worlds/minimal_scene.sdf +++ b/examples/worlds/minimal_scene.sdf @@ -28,11 +28,11 @@ Features: - + 3D View false docked - + ogre2 scene @@ -47,51 +47,51 @@ Features: - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + @@ -101,20 +101,20 @@ Features: 5 floating false - + - + false 5 5 floating false - + - + @@ -124,12 +124,12 @@ Features: 5 floating false - + - + World control false false @@ -142,7 +142,7 @@ Features: - + true true @@ -153,7 +153,7 @@ Features: - + World stats false false @@ -166,7 +166,7 @@ Features: - + true true @@ -176,7 +176,7 @@ Features: - + false 0 0 @@ -185,12 +185,12 @@ Features: floating false #666666 - + - + false 250 0 @@ -199,12 +199,12 @@ Features: floating false #666666 - + - + false 0 50 @@ -213,7 +213,7 @@ Features: floating false #777777 - + false @@ -221,7 +221,7 @@ Features: - + false 250 50 @@ -230,12 +230,12 @@ Features: floating false #777777 - + - + false 300 50 @@ -244,7 +244,7 @@ Features: floating false #777777 - + true @@ -258,23 +258,23 @@ Features: - + docked_collapsed - + - + docked_collapsed - + - + docked_collapsed - + false diff --git a/examples/worlds/optical_tactile_sensor_plugin.sdf b/examples/worlds/optical_tactile_sensor_plugin.sdf index e2c84a00b9..4dae0b7eb2 100644 --- a/examples/worlds/optical_tactile_sensor_plugin.sdf +++ b/examples/worlds/optical_tactile_sensor_plugin.sdf @@ -41,11 +41,11 @@ - + 3D View false docked - + ogre2 scene @@ -56,43 +56,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -105,7 +105,7 @@ - + true true @@ -116,7 +116,7 @@ - + World stats false false @@ -129,7 +129,7 @@ - + true true @@ -139,32 +139,32 @@ - + docked_collapsed - + - + docked_collapsed - + - + false 5 5 floating false - + - + docked - + diff --git a/examples/worlds/plot_3d.sdf b/examples/worlds/plot_3d.sdf index ed66fbf3a6..1e30906591 100644 --- a/examples/worlds/plot_3d.sdf +++ b/examples/worlds/plot_3d.sdf @@ -15,11 +15,11 @@ - + 3D View false docked - + ogre2 scene @@ -30,43 +30,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -79,7 +79,7 @@ - + true true @@ -90,7 +90,7 @@ - + World stats false false @@ -103,7 +103,7 @@ - + true true @@ -112,13 +112,13 @@ - + false 5 5 floating false - + @@ -127,9 +127,9 @@ - + Upper link plot - + Double_pendulum::upper_link 0 0 1 0 0 1 @@ -139,9 +139,9 @@ - + Lower link plot - + Double_pendulum::lower_link 0 1 0 0 0 1 diff --git a/examples/worlds/segmentation_camera.sdf b/examples/worlds/segmentation_camera.sdf index a24c0863ea..51ef691924 100644 --- a/examples/worlds/segmentation_camera.sdf +++ b/examples/worlds/segmentation_camera.sdf @@ -29,11 +29,11 @@ - + 3D View false docked - + ogre2 scene @@ -44,43 +44,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -93,7 +93,7 @@ - + true true @@ -104,7 +104,7 @@ - + World stats false false @@ -117,7 +117,7 @@ - + true true @@ -127,32 +127,32 @@ - + docked_collapsed - + - + docked_collapsed - + - - + + semantic/colored_map - - + + panoptic/colored_map - - + + semantic/labels_map diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf index 7aec3b282a..a5f89abfb7 100644 --- a/examples/worlds/sensors_demo.sdf +++ b/examples/worlds/sensors_demo.sdf @@ -31,11 +31,11 @@ - + 3D View false docked - + ogre2 scene @@ -46,43 +46,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -95,7 +95,7 @@ - + true true @@ -106,7 +106,7 @@ - + World stats false false @@ -119,7 +119,7 @@ - + true true @@ -129,71 +129,71 @@ - + docked - + - + docked - + - + RGB camera floating 350 315 - + camera false - + Depth camera floating 350 315 500 - + depth_camera false - + RGBD: image floating 350 315 320 - + rgbd_camera/image false - + RGBD: depth floating 350 315 500 320 - + rgbd_camera/depth_image false - + Thermal camera floating 350 315 500 640 - + thermal_camera false diff --git a/examples/worlds/shader_param.sdf b/examples/worlds/shader_param.sdf index 1f6961c6b5..7760c63e94 100644 --- a/examples/worlds/shader_param.sdf +++ b/examples/worlds/shader_param.sdf @@ -31,11 +31,11 @@ ShaderParam visual plugin over time. - + 3D View false docked - + ogre2 scene @@ -46,43 +46,43 @@ ShaderParam visual plugin over time. - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -95,7 +95,7 @@ ShaderParam visual plugin over time. - + true true @@ -106,7 +106,7 @@ ShaderParam visual plugin over time. - + World stats false false @@ -119,7 +119,7 @@ ShaderParam visual plugin over time. - + true true @@ -129,36 +129,36 @@ ShaderParam visual plugin over time. - + docked - + - + docked - + - + RGB camera floating 350 315 - + camera false - + Depth camera floating 350 315 500 - + depth_camera false diff --git a/examples/worlds/sky.sdf b/examples/worlds/sky.sdf index 1f537a670e..3b4e39168b 100644 --- a/examples/worlds/sky.sdf +++ b/examples/worlds/sky.sdf @@ -14,11 +14,11 @@ Currently only supported using ogre2 rendering engine plugin. - + 3D View false docked - + ogre2 scene @@ -29,43 +29,43 @@ Currently only supported using ogre2 rendering engine plugin. - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -78,7 +78,7 @@ Currently only supported using ogre2 rendering engine plugin. - + true true @@ -89,7 +89,7 @@ Currently only supported using ogre2 rendering engine plugin. - + World stats false false @@ -102,7 +102,7 @@ Currently only supported using ogre2 rendering engine plugin. - + true true @@ -111,23 +111,23 @@ Currently only supported using ogre2 rendering engine plugin. - + docked - + - + docked - + - + docked - + diff --git a/examples/worlds/spherical_coordinates.sdf b/examples/worlds/spherical_coordinates.sdf index f1e48329d5..5c18c649fb 100644 --- a/examples/worlds/spherical_coordinates.sdf +++ b/examples/worlds/spherical_coordinates.sdf @@ -89,11 +89,11 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + 3D View false docked - + ogre2 scene @@ -104,61 +104,61 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -171,7 +171,7 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + true true @@ -182,7 +182,7 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + World stats false false @@ -195,7 +195,7 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + true true @@ -205,14 +205,14 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + false 250 50 floating false #777777 - + false @@ -220,24 +220,24 @@ ign service -s /world/spherical_coordinates/set_spherical_coordinates \ - + docked_collapsed - + - + docked - + - + NavSat Map docked - + /navsat true diff --git a/examples/worlds/thermal_camera.sdf b/examples/worlds/thermal_camera.sdf index 70d64a519c..831c67333b 100644 --- a/examples/worlds/thermal_camera.sdf +++ b/examples/worlds/thermal_camera.sdf @@ -32,11 +32,11 @@ - + 3D View false docked - + ogre2 scene @@ -47,43 +47,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -96,7 +96,7 @@ - + true true @@ -107,7 +107,7 @@ - + World stats false false @@ -120,7 +120,7 @@ - + true true @@ -130,36 +130,36 @@ - + docked - + - + docked - + - + Thermal camera floating 350 315 - + thermal_camera false - + Thermal camera 8 Bit floating 350 315 500 - + thermal_camera_8bit/image false diff --git a/examples/worlds/tracked_vehicle_simple.sdf b/examples/worlds/tracked_vehicle_simple.sdf index d224d41b32..d1f1bb7857 100644 --- a/examples/worlds/tracked_vehicle_simple.sdf +++ b/examples/worlds/tracked_vehicle_simple.sdf @@ -1724,11 +1724,11 @@ - + 3D View 0 docked - + ogre2 scene 0.4 0.4 0.4 @@ -1736,7 +1736,7 @@ -6 0 6 0 0.5 0 - + World control 0 0 @@ -1748,13 +1748,13 @@ - + 1 1 1 - + World stats 0 0 @@ -1766,14 +1766,14 @@ - + 1 1 1 1 - + Transform control @@ -1785,10 +1785,10 @@ floating 0 #666666 - + - + @@ -1799,10 +1799,10 @@ floating 0 #666666 - + - + @@ -1812,7 +1812,7 @@ 5 floating false - + 0 0 -9.8 diff --git a/examples/worlds/triggered_camera_sensor.sdf b/examples/worlds/triggered_camera_sensor.sdf index 1b7d450934..91e997f845 100644 --- a/examples/worlds/triggered_camera_sensor.sdf +++ b/examples/worlds/triggered_camera_sensor.sdf @@ -42,11 +42,11 @@ - + 3D View false docked - + ogre2 scene @@ -57,43 +57,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -106,7 +106,7 @@ - + true true @@ -117,7 +117,7 @@ - + World stats false false @@ -130,7 +130,7 @@ - + true true @@ -139,23 +139,23 @@ - + docked - + - + docked - + - + docked - + diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf index 466a9a7ab8..68dd9941e2 100644 --- a/examples/worlds/tunnel.sdf +++ b/examples/worlds/tunnel.sdf @@ -25,11 +25,11 @@ - + 3D View false docked - + ogre2 scene @@ -40,43 +40,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + Transform control @@ -88,7 +88,7 @@ floating false #666666 - + false @@ -96,7 +96,7 @@ - + @@ -107,11 +107,11 @@ floating false #666666 - + - + World control false false @@ -124,7 +124,7 @@ - + true true @@ -135,7 +135,7 @@ - + World stats false false @@ -148,7 +148,7 @@ - + true true @@ -157,29 +157,29 @@ - + Vehicle camera docked - + camera false - + docked_collapsed - + - + docked_collapsed - + - + @@ -189,7 +189,7 @@ 5 floating false - + diff --git a/examples/worlds/video_record_dbl_pendulum.sdf b/examples/worlds/video_record_dbl_pendulum.sdf index 5821c00aba..4d261136d2 100644 --- a/examples/worlds/video_record_dbl_pendulum.sdf +++ b/examples/worlds/video_record_dbl_pendulum.sdf @@ -32,11 +32,11 @@ - + 3D View false docked - + ogre2 scene @@ -47,33 +47,33 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + @@ -83,20 +83,20 @@ 5 floating false - + - + false 5 5 floating false - + - + false 0 0 @@ -105,12 +105,12 @@ floating false #666666 - + - + false 250 0 @@ -119,12 +119,12 @@ floating false #666666 - + - + false 0 50 @@ -133,14 +133,14 @@ floating false #777777 - + false - + false 250 50 @@ -149,20 +149,20 @@ floating false #777777 - + - + false 5 5 floating false - + - + World control false false @@ -175,7 +175,7 @@ - + true true @@ -186,7 +186,7 @@ - + World stats false false @@ -199,7 +199,7 @@ - + true true @@ -209,7 +209,7 @@ - + false 300 50 @@ -218,7 +218,7 @@ floating false #777777 - + true diff --git a/examples/worlds/visibility.sdf b/examples/worlds/visibility.sdf index e8e57771df..3e9fe31910 100644 --- a/examples/worlds/visibility.sdf +++ b/examples/worlds/visibility.sdf @@ -43,11 +43,11 @@ - + 3D View false docked - + ogre2 scene @@ -58,43 +58,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -107,7 +107,7 @@ - + true true @@ -118,7 +118,7 @@ - + World stats false false @@ -131,7 +131,7 @@ - + true true @@ -141,35 +141,35 @@ - + RGB camera 0x01 docked - + camera_0x01 false - + RGB camera 0x02 docked - + camera_0x02 false - + docked - + - + docked - + diff --git a/examples/worlds/visualize_contacts.sdf b/examples/worlds/visualize_contacts.sdf index 5d39a0b161..651a6e001b 100644 --- a/examples/worlds/visualize_contacts.sdf +++ b/examples/worlds/visualize_contacts.sdf @@ -33,11 +33,11 @@ Contacts will be visualized as blue spheres and green cylinders. - + 3D View false docked - + ogre2 scene @@ -48,43 +48,43 @@ Contacts will be visualized as blue spheres and green cylinders. - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -97,7 +97,7 @@ Contacts will be visualized as blue spheres and green cylinders. - + true true @@ -108,7 +108,7 @@ Contacts will be visualized as blue spheres and green cylinders. - + World stats false false @@ -121,7 +121,7 @@ Contacts will be visualized as blue spheres and green cylinders. - + true true @@ -130,20 +130,20 @@ Contacts will be visualized as blue spheres and green cylinders. - + false 5 5 floating false - + - + docked - + diff --git a/examples/worlds/visualize_lidar.sdf b/examples/worlds/visualize_lidar.sdf index 2071b3b641..193fbb370d 100644 --- a/examples/worlds/visualize_lidar.sdf +++ b/examples/worlds/visualize_lidar.sdf @@ -27,11 +27,11 @@ - + 3D View false docked - + ogre2 scene @@ -42,43 +42,43 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -91,7 +91,7 @@ - + true true @@ -102,7 +102,7 @@ - + World stats false false @@ -115,7 +115,7 @@ - + true true @@ -128,16 +128,16 @@ - + docked - + - + docked - + diff --git a/examples/worlds/wide_angle_camera.sdf b/examples/worlds/wide_angle_camera.sdf index 1941f54e9a..394dfa5eec 100644 --- a/examples/worlds/wide_angle_camera.sdf +++ b/examples/worlds/wide_angle_camera.sdf @@ -31,11 +31,11 @@ - + 3D View false docked - + ogre2 scene @@ -46,51 +46,51 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + @@ -100,20 +100,20 @@ 5 floating false - + - + false 5 5 floating false - + - + @@ -123,12 +123,12 @@ 5 floating false - + - + World control false false @@ -141,7 +141,7 @@ - + true true @@ -151,7 +151,7 @@ - + World stats false false @@ -164,7 +164,7 @@ - + true true @@ -174,25 +174,25 @@ - + docked - + - + docked - + - + Wide angle camera floating 350 315 - + wide_angle_camera false diff --git a/include/gz/sim/ServerConfig.hh b/include/gz/sim/ServerConfig.hh index 208ecb9fa0..587ac161a4 100644 --- a/include/gz/sim/ServerConfig.hh +++ b/include/gz/sim/ServerConfig.hh @@ -445,7 +445,7 @@ namespace gz /// variable. /// * If GZ_SIM_SERVER_CONFIG_PATH is set but empty, no plugins /// are loaded. - /// 2. File at ${IGN_HOMEDIR}/.gz/sim/server.config + /// 2. File at ${GZ_HOMEDIR}/.gz/sim/server.config /// 3. File at ${IGN_DATA_INSTALL_DIR}/server.config /// /// If any of the above files exist but are empty, resolution diff --git a/include/gz/sim/TestFixture.hh b/include/gz/sim/TestFixture.hh index 52c925eaff..84653a2c7c 100644 --- a/include/gz/sim/TestFixture.hh +++ b/include/gz/sim/TestFixture.hh @@ -104,7 +104,7 @@ class GZ_GAZEBO_VISIBLE TestFixture /// \internal /// \brief Pointer to private data. - // TODO(chapulina) Use IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) when porting to v6 + // TODO(chapulina) Use GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) when porting to v6 private: TestFixturePrivate *dataPtr; }; } diff --git a/include/gz/sim/comms/Broker.hh b/include/gz/sim/comms/Broker.hh index 512e40eaef..e7ff581cc8 100644 --- a/include/gz/sim/comms/Broker.hh +++ b/include/gz/sim/comms/Broker.hh @@ -144,7 +144,7 @@ namespace comms public: void Unlock(); /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/include/gz/sim/comms/ICommsModel.hh b/include/gz/sim/comms/ICommsModel.hh index f1199835da..3d539a4885 100644 --- a/include/gz/sim/comms/ICommsModel.hh +++ b/include/gz/sim/comms/ICommsModel.hh @@ -125,7 +125,7 @@ namespace comms EntityComponentManager &_ecm) = 0; /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/include/gz/sim/comms/MsgManager.hh b/include/gz/sim/comms/MsgManager.hh index da29e56c6a..b4a8770567 100644 --- a/include/gz/sim/comms/MsgManager.hh +++ b/include/gz/sim/comms/MsgManager.hh @@ -149,7 +149,7 @@ class GZ_GAZEBO_VISIBLE MsgManager public: void Set(const Registry &_newContent); /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/include/gz/sim/components/Actor.hh b/include/gz/sim/components/Actor.hh index f4176efc10..5c0f266125 100644 --- a/include/gz/sim/components/Actor.hh +++ b/include/gz/sim/components/Actor.hh @@ -78,18 +78,18 @@ namespace components /// element](http://sdformat.org/spec?ver=1.6&elem=actor). using Actor = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Actor", Actor) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Actor", Actor) /// \brief Time in seconds within animation being currently played. using AnimationTime = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.AnimationTime", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AnimationTime", AnimationTime) /// \brief Name of animation being currently played. using AnimationName = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.AnimationName", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AnimationName", AnimationName) } } diff --git a/include/gz/sim/components/Actuators.hh b/include/gz/sim/components/Actuators.hh index 572f02bfc3..ceda110f35 100644 --- a/include/gz/sim/components/Actuators.hh +++ b/include/gz/sim/components/Actuators.hh @@ -37,7 +37,7 @@ namespace components using Actuators = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Actuators", Actuators) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Actuators", Actuators) } } } diff --git a/include/gz/sim/components/AirPressureSensor.hh b/include/gz/sim/components/AirPressureSensor.hh index c8b730e9ea..691b79c032 100644 --- a/include/gz/sim/components/AirPressureSensor.hh +++ b/include/gz/sim/components/AirPressureSensor.hh @@ -36,7 +36,7 @@ namespace components /// sdf::AirPressure, information. using AirPressureSensor = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.AirPressureSensor", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AirPressureSensor", AirPressureSensor) } } diff --git a/include/gz/sim/components/Altimeter.hh b/include/gz/sim/components/Altimeter.hh index 0e04093a77..e3d3e49433 100644 --- a/include/gz/sim/components/Altimeter.hh +++ b/include/gz/sim/components/Altimeter.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Altimeter, information. using Altimeter = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Altimeter", Altimeter) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Altimeter", Altimeter) } } } diff --git a/include/gz/sim/components/AngularAcceleration.hh b/include/gz/sim/components/AngularAcceleration.hh index f229ce09fa..adbd0b4fc8 100644 --- a/include/gz/sim/components/AngularAcceleration.hh +++ b/include/gz/sim/components/AngularAcceleration.hh @@ -37,14 +37,14 @@ namespace components /// represented by gz::math::Vector3d. using AngularAcceleration = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.AngularAcceleration", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AngularAcceleration", AngularAcceleration) /// \brief A component type that contains angular acceleration of an entity in /// the world frame represented by gz::math::Vector3d. using WorldAngularAcceleration = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.WorldAngularAcceleration", WorldAngularAcceleration) } diff --git a/include/gz/sim/components/AngularVelocity.hh b/include/gz/sim/components/AngularVelocity.hh index 1283dd8d10..a0e2c740ea 100644 --- a/include/gz/sim/components/AngularVelocity.hh +++ b/include/gz/sim/components/AngularVelocity.hh @@ -37,14 +37,14 @@ namespace components /// represented by gz::math::Vector3d. using AngularVelocity = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.AngularVelocity", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AngularVelocity", AngularVelocity) /// \brief A component type that contains angular velocity of an entity in the /// world frame represented by gz::math::Vector3d. using WorldAngularVelocity = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WorldAngularVelocity", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WorldAngularVelocity", WorldAngularVelocity) } } diff --git a/include/gz/sim/components/AngularVelocityCmd.hh b/include/gz/sim/components/AngularVelocityCmd.hh index 8e7733c20a..433436e2ef 100644 --- a/include/gz/sim/components/AngularVelocityCmd.hh +++ b/include/gz/sim/components/AngularVelocityCmd.hh @@ -36,14 +36,14 @@ namespace components /// an entity, in its own frame, represented by gz::math::Vector3d. using AngularVelocityCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.AngularVelocityCmd", AngularVelocityCmd) /// \brief A component type that contains the commanded angular velocity /// of an entity in the world frame represented by gz::math::Vector3d. using WorldAngularVelocityCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.WorldAngularVelocityCmd", WorldAngularVelocityCmd) } } diff --git a/include/gz/sim/components/Atmosphere.hh b/include/gz/sim/components/Atmosphere.hh index 1374452c14..68a47104a4 100644 --- a/include/gz/sim/components/Atmosphere.hh +++ b/include/gz/sim/components/Atmosphere.hh @@ -42,7 +42,7 @@ namespace components using Atmosphere = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.Atmosphere", Atmosphere) } } diff --git a/include/gz/sim/components/AxisAlignedBox.hh b/include/gz/sim/components/AxisAlignedBox.hh index 50c3146016..c103a1249b 100644 --- a/include/gz/sim/components/AxisAlignedBox.hh +++ b/include/gz/sim/components/AxisAlignedBox.hh @@ -45,7 +45,7 @@ namespace components /// The axis aligned box is created from collisions in the entity using AxisAlignedBox = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.AxisAlignedBox", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AxisAlignedBox", AxisAlignedBox) } } diff --git a/include/gz/sim/components/BatterySoC.hh b/include/gz/sim/components/BatterySoC.hh index be95bfef3b..8b8ea8dadb 100644 --- a/include/gz/sim/components/BatterySoC.hh +++ b/include/gz/sim/components/BatterySoC.hh @@ -32,7 +32,7 @@ namespace components /// A component that identifies an entity as being a battery. /// Float value indicates state of charge. using BatterySoC = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.BatterySoC", BatterySoC) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.BatterySoC", BatterySoC) } } } diff --git a/include/gz/sim/components/Camera.hh b/include/gz/sim/components/Camera.hh index bcc40ef8c1..07aedbb60a 100644 --- a/include/gz/sim/components/Camera.hh +++ b/include/gz/sim/components/Camera.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Camera, information. using Camera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Camera", Camera) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Camera", Camera) } } } diff --git a/include/gz/sim/components/CanonicalLink.hh b/include/gz/sim/components/CanonicalLink.hh index a2293e0571..12744fb596 100644 --- a/include/gz/sim/components/CanonicalLink.hh +++ b/include/gz/sim/components/CanonicalLink.hh @@ -32,13 +32,13 @@ namespace components { /// \brief A component that identifies an entity as being a canonical link. using CanonicalLink = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.CanonicalLink", CanonicalLink) /// \brief A component that contains a reference to the canonical link entity /// of a model. using ModelCanonicalLink = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.ModelCanonicalLink", ModelCanonicalLink) } } diff --git a/include/gz/sim/components/CastShadows.hh b/include/gz/sim/components/CastShadows.hh index 99f0f82930..47af35130e 100644 --- a/include/gz/sim/components/CastShadows.hh +++ b/include/gz/sim/components/CastShadows.hh @@ -32,7 +32,7 @@ namespace components /// \brief A component used to indicate that an entity casts shadows /// e.g. visual entities using CastShadows = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.CastShadows", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.CastShadows", CastShadows) } } diff --git a/include/gz/sim/components/CenterOfVolume.hh b/include/gz/sim/components/CenterOfVolume.hh index 4a9653ebab..ff43f901f7 100644 --- a/include/gz/sim/components/CenterOfVolume.hh +++ b/include/gz/sim/components/CenterOfVolume.hh @@ -35,7 +35,7 @@ namespace components /// position of the center of volume is relative to the pose of the parent /// entity, which is usually a link. using CenterOfVolume = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.CenterOfVolume", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.CenterOfVolume", CenterOfVolume) } } diff --git a/include/gz/sim/components/ChildLinkName.hh b/include/gz/sim/components/ChildLinkName.hh index 9fad777c92..573c4b18c1 100644 --- a/include/gz/sim/components/ChildLinkName.hh +++ b/include/gz/sim/components/ChildLinkName.hh @@ -35,7 +35,7 @@ namespace components /// not moveable). using ChildLinkName = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.ChildLinkName", ChildLinkName) } } diff --git a/include/gz/sim/components/Collision.hh b/include/gz/sim/components/Collision.hh index 4a7335d4e4..cc65496304 100644 --- a/include/gz/sim/components/Collision.hh +++ b/include/gz/sim/components/Collision.hh @@ -40,7 +40,7 @@ namespace components { /// \brief A component that identifies an entity as being a collision. using Collision = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.Collision", Collision) // TODO(anyone) The sdf::Collision DOM object does not yet contain @@ -49,7 +49,7 @@ namespace components using CollisionElement = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.CollisionElement", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.CollisionElement", CollisionElement) /// \brief A component used to enable customization of contact surface for a @@ -57,7 +57,7 @@ namespace components /// CollectContactSurfaceProperties from PhysicsEvents. using EnableContactSurfaceCustomization = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.EnableContactSurfaceCustomization", EnableContactSurfaceCustomization) } diff --git a/include/gz/sim/components/ContactSensor.hh b/include/gz/sim/components/ContactSensor.hh index 6822be99c3..f60f18a60d 100644 --- a/include/gz/sim/components/ContactSensor.hh +++ b/include/gz/sim/components/ContactSensor.hh @@ -33,7 +33,7 @@ namespace components /// \brief TODO(anyone) Substitute with sdf::Contact once that exists? /// This is currently the whole `` element. using ContactSensor = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ContactSensor", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ContactSensor", ContactSensor) } } diff --git a/include/gz/sim/components/ContactSensorData.hh b/include/gz/sim/components/ContactSensorData.hh index 40a6ad598f..f615dc6a35 100644 --- a/include/gz/sim/components/ContactSensorData.hh +++ b/include/gz/sim/components/ContactSensorData.hh @@ -36,7 +36,7 @@ namespace components using ContactSensorData = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ContactSensorData", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ContactSensorData", ContactSensorData) } } diff --git a/include/gz/sim/components/CustomSensor.hh b/include/gz/sim/components/CustomSensor.hh index 3c2162d052..eea386fc2b 100644 --- a/include/gz/sim/components/CustomSensor.hh +++ b/include/gz/sim/components/CustomSensor.hh @@ -36,7 +36,7 @@ namespace components /// the SDF spec. using CustomSensor = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.CustomSensor", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.CustomSensor", CustomSensor) } } diff --git a/include/gz/sim/components/DepthCamera.hh b/include/gz/sim/components/DepthCamera.hh index 20e2b67e16..13d6ff2c7c 100644 --- a/include/gz/sim/components/DepthCamera.hh +++ b/include/gz/sim/components/DepthCamera.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Camera, information. using DepthCamera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.DepthCamera", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.DepthCamera", DepthCamera) } } diff --git a/include/gz/sim/components/DetachableJoint.hh b/include/gz/sim/components/DetachableJoint.hh index d486f9a523..7bcf6e4602 100644 --- a/include/gz/sim/components/DetachableJoint.hh +++ b/include/gz/sim/components/DetachableJoint.hh @@ -94,7 +94,7 @@ namespace components using DetachableJoint = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.DetachableJoint", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.DetachableJoint", DetachableJoint) } } diff --git a/include/gz/sim/components/ExternalWorldWrenchCmd.hh b/include/gz/sim/components/ExternalWorldWrenchCmd.hh index 4a3363c4f3..d707c4a65a 100644 --- a/include/gz/sim/components/ExternalWorldWrenchCmd.hh +++ b/include/gz/sim/components/ExternalWorldWrenchCmd.hh @@ -41,7 +41,7 @@ namespace components using ExternalWorldWrenchCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ExternalWorldWrenchCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ExternalWorldWrenchCmd", ExternalWorldWrenchCmd) } } diff --git a/include/gz/sim/components/Factory.hh b/include/gz/sim/components/Factory.hh index 776685d1b2..28d5d46d5a 100644 --- a/include/gz/sim/components/Factory.hh +++ b/include/gz/sim/components/Factory.hh @@ -382,7 +382,7 @@ namespace components /// register the component again, so we prevent that. /// \param[in] _compType Component type name. /// \param[in] _classname Class name for component. - #define IGN_GAZEBO_REGISTER_COMPONENT(_compType, _classname) \ + #define GZ_SIM_REGISTER_COMPONENT(_compType, _classname) \ class GzSimComponents##_classname \ { \ public: GzSimComponents##_classname() \ @@ -396,7 +396,7 @@ namespace components } \ }; \ static GzSimComponents##_classname\ - IgnitionGazeboComponentsInitializer##_classname; + GzSimComponentsInitializer##_classname; } } } diff --git a/include/gz/sim/components/ForceTorque.hh b/include/gz/sim/components/ForceTorque.hh index 344b7cba0a..be4768ae7f 100644 --- a/include/gz/sim/components/ForceTorque.hh +++ b/include/gz/sim/components/ForceTorque.hh @@ -38,7 +38,7 @@ namespace components /// sdf::ForceTorque, information. using ForceTorque = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ForceTorque", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ForceTorque", ForceTorque) } } diff --git a/include/gz/sim/components/Geometry.hh b/include/gz/sim/components/Geometry.hh index e027e6a400..7710f12570 100644 --- a/include/gz/sim/components/Geometry.hh +++ b/include/gz/sim/components/Geometry.hh @@ -45,7 +45,7 @@ namespace components using Geometry = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Geometry", Geometry) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Geometry", Geometry) } } diff --git a/include/gz/sim/components/GpuLidar.hh b/include/gz/sim/components/GpuLidar.hh index 0e77d27afe..10ad9f022d 100644 --- a/include/gz/sim/components/GpuLidar.hh +++ b/include/gz/sim/components/GpuLidar.hh @@ -35,7 +35,7 @@ namespace components /// sdf::Lidar, information. using GpuLidar = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.GpuLidar", GpuLidar) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.GpuLidar", GpuLidar) } } } diff --git a/include/gz/sim/components/Gravity.hh b/include/gz/sim/components/Gravity.hh index dcc60f0910..82ba3d036a 100644 --- a/include/gz/sim/components/Gravity.hh +++ b/include/gz/sim/components/Gravity.hh @@ -35,7 +35,7 @@ namespace components { /// \brief Store the gravity acceleration. using Gravity = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Gravity", Gravity) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Gravity", Gravity) } } } diff --git a/include/gz/sim/components/HaltMotion.hh b/include/gz/sim/components/HaltMotion.hh index 03296cd2f1..25ed790667 100644 --- a/include/gz/sim/components/HaltMotion.hh +++ b/include/gz/sim/components/HaltMotion.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component used to turn off a model's joint's movement. using HaltMotion = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.HaltMotion", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.HaltMotion", HaltMotion) } } diff --git a/include/gz/sim/components/Imu.hh b/include/gz/sim/components/Imu.hh index bdcac604f2..73b1b0fbd7 100644 --- a/include/gz/sim/components/Imu.hh +++ b/include/gz/sim/components/Imu.hh @@ -38,7 +38,7 @@ namespace components /// sdf::IMU, information. using Imu = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Imu", Imu) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Imu", Imu) } } } diff --git a/include/gz/sim/components/Inertial.hh b/include/gz/sim/components/Inertial.hh index 8bbe7353e5..67688f0303 100644 --- a/include/gz/sim/components/Inertial.hh +++ b/include/gz/sim/components/Inertial.hh @@ -42,7 +42,7 @@ namespace components /// \brief This component holds an entity's inertial. using Inertial = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Inertial", Inertial) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Inertial", Inertial) } } } diff --git a/include/gz/sim/components/Joint.hh b/include/gz/sim/components/Joint.hh index d0b76220e7..4318d6637f 100644 --- a/include/gz/sim/components/Joint.hh +++ b/include/gz/sim/components/Joint.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component that identifies an entity as being a joint. using Joint = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Joint", Joint) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Joint", Joint) } } } diff --git a/include/gz/sim/components/JointAxis.hh b/include/gz/sim/components/JointAxis.hh index ecaab0baa9..56a7968ea6 100644 --- a/include/gz/sim/components/JointAxis.hh +++ b/include/gz/sim/components/JointAxis.hh @@ -41,14 +41,14 @@ namespace components /// around sdf::JointAxis using JointAxis = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointAxis", JointAxis) /// \brief A component that contains the second joint axis for joints with two /// axes. This is a simple wrapper around sdf::JointAxis using JointAxis2 = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointAxis2", JointAxis2) } } diff --git a/include/gz/sim/components/JointEffortLimitsCmd.hh b/include/gz/sim/components/JointEffortLimitsCmd.hh index fb5bfc5410..6a4ee6ccbe 100644 --- a/include/gz/sim/components/JointEffortLimitsCmd.hh +++ b/include/gz/sim/components/JointEffortLimitsCmd.hh @@ -49,7 +49,7 @@ using JointEffortLimitsCmd = Component< serializers::VectorSerializer >; -IGN_GAZEBO_REGISTER_COMPONENT( +GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointEffortLimitsCmd", JointEffortLimitsCmd) } diff --git a/include/gz/sim/components/JointForce.hh b/include/gz/sim/components/JointForce.hh index 74e6de9612..5b330f4499 100644 --- a/include/gz/sim/components/JointForce.hh +++ b/include/gz/sim/components/JointForce.hh @@ -36,7 +36,7 @@ namespace components /// prismatic). using JointForce = Component, class JointForceTag, serializers::VectorDoubleSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointForce", JointForce) } } diff --git a/include/gz/sim/components/JointForceCmd.hh b/include/gz/sim/components/JointForceCmd.hh index 7178982061..a286037a4e 100644 --- a/include/gz/sim/components/JointForceCmd.hh +++ b/include/gz/sim/components/JointForceCmd.hh @@ -36,7 +36,7 @@ namespace components /// std::vector and systems that set this component need to ensure that the /// vector has the same size as the degrees of freedom of the joint. using JointForceCmd = Component, class JointForceCmdTag>; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.JointForceCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.JointForceCmd", JointForceCmd) } } diff --git a/include/gz/sim/components/JointPosition.hh b/include/gz/sim/components/JointPosition.hh index 90fef6ad77..90c6702f3c 100644 --- a/include/gz/sim/components/JointPosition.hh +++ b/include/gz/sim/components/JointPosition.hh @@ -37,7 +37,7 @@ namespace components /// of the joint. using JointPosition = Component, class JointPositionTag, serializers::VectorDoubleSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointPosition", JointPosition) } } diff --git a/include/gz/sim/components/JointPositionLimitsCmd.hh b/include/gz/sim/components/JointPositionLimitsCmd.hh index d11edf9741..da846fc54f 100644 --- a/include/gz/sim/components/JointPositionLimitsCmd.hh +++ b/include/gz/sim/components/JointPositionLimitsCmd.hh @@ -48,7 +48,7 @@ using JointPositionLimitsCmd = Component< serializers::VectorSerializer >; -IGN_GAZEBO_REGISTER_COMPONENT( +GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointPositionLimitsCmd", JointPositionLimitsCmd) } } diff --git a/include/gz/sim/components/JointPositionReset.hh b/include/gz/sim/components/JointPositionReset.hh index aaf2cf3ae6..6c33daef5c 100644 --- a/include/gz/sim/components/JointPositionReset.hh +++ b/include/gz/sim/components/JointPositionReset.hh @@ -39,7 +39,7 @@ namespace components using JointPositionReset = Component, class JointPositionResetTag, serializers::VectorDoubleSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointPositionReset", JointPositionReset) } } diff --git a/include/gz/sim/components/JointTransmittedWrench.hh b/include/gz/sim/components/JointTransmittedWrench.hh index f315392280..a6e0ba471c 100644 --- a/include/gz/sim/components/JointTransmittedWrench.hh +++ b/include/gz/sim/components/JointTransmittedWrench.hh @@ -46,7 +46,7 @@ namespace components using JointTransmittedWrench = Component; -IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.JointTransmittedWrench", +GZ_SIM_REGISTER_COMPONENT("gz_sim_components.JointTransmittedWrench", JointTransmittedWrench) } // namespace components } diff --git a/include/gz/sim/components/JointType.hh b/include/gz/sim/components/JointType.hh index ed3a1ed719..5e70a667fc 100644 --- a/include/gz/sim/components/JointType.hh +++ b/include/gz/sim/components/JointType.hh @@ -64,7 +64,7 @@ namespace components /// around sdf::JointType using JointType = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointType", JointType) } } diff --git a/include/gz/sim/components/JointVelocity.hh b/include/gz/sim/components/JointVelocity.hh index bc19fe520f..8f931d2d03 100644 --- a/include/gz/sim/components/JointVelocity.hh +++ b/include/gz/sim/components/JointVelocity.hh @@ -36,7 +36,7 @@ namespace components /// \brief Base class which can be extended to add serialization using JointVelocity = Component, class JointVelocityTag, serializers::VectorDoubleSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointVelocity", JointVelocity) } } diff --git a/include/gz/sim/components/JointVelocityCmd.hh b/include/gz/sim/components/JointVelocityCmd.hh index 6ff5238b6d..842b27b4b9 100644 --- a/include/gz/sim/components/JointVelocityCmd.hh +++ b/include/gz/sim/components/JointVelocityCmd.hh @@ -38,7 +38,7 @@ namespace components Component, class JointVelocityCmdTag, serializers::VectorDoubleSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointVelocityCmd", JointVelocityCmd) } } diff --git a/include/gz/sim/components/JointVelocityLimitsCmd.hh b/include/gz/sim/components/JointVelocityLimitsCmd.hh index f75656e3e0..567c08021a 100644 --- a/include/gz/sim/components/JointVelocityLimitsCmd.hh +++ b/include/gz/sim/components/JointVelocityLimitsCmd.hh @@ -48,7 +48,7 @@ using JointVelocityLimitsCmd = Component< serializers::VectorSerializer >; -IGN_GAZEBO_REGISTER_COMPONENT( +GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointVelocityLimitsCmd", JointVelocityLimitsCmd) } } diff --git a/include/gz/sim/components/JointVelocityReset.hh b/include/gz/sim/components/JointVelocityReset.hh index f98b89b096..5ceabc058c 100644 --- a/include/gz/sim/components/JointVelocityReset.hh +++ b/include/gz/sim/components/JointVelocityReset.hh @@ -40,7 +40,7 @@ namespace components using JointVelocityReset = Component, class JointVelocityResetTag, serializers::VectorDoubleSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.JointVelocityReset", JointVelocityReset) } } diff --git a/include/gz/sim/components/LaserRetro.hh b/include/gz/sim/components/LaserRetro.hh index 2832c3e3ca..8431cd7ca1 100644 --- a/include/gz/sim/components/LaserRetro.hh +++ b/include/gz/sim/components/LaserRetro.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component used to indicate an lidar reflective value using LaserRetro = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LaserRetro", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LaserRetro", LaserRetro) } } diff --git a/include/gz/sim/components/Level.hh b/include/gz/sim/components/Level.hh index 50863d1c42..d1cf6a678f 100644 --- a/include/gz/sim/components/Level.hh +++ b/include/gz/sim/components/Level.hh @@ -33,11 +33,11 @@ namespace components { /// \brief This component identifies an entity as being a level. using Level = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Level", Level) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Level", Level) /// \brief This component identifies an entity as being a default level. using DefaultLevel = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.DefaultLevel", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.DefaultLevel", DefaultLevel) } } diff --git a/include/gz/sim/components/LevelBuffer.hh b/include/gz/sim/components/LevelBuffer.hh index 5ab0b412d7..a82c77f7ba 100644 --- a/include/gz/sim/components/LevelBuffer.hh +++ b/include/gz/sim/components/LevelBuffer.hh @@ -33,7 +33,7 @@ namespace components { /// \brief A component that holds the buffer setting of a level's geometry using LevelBuffer = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LevelBuffer", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LevelBuffer", LevelBuffer) } } diff --git a/include/gz/sim/components/LevelEntityNames.hh b/include/gz/sim/components/LevelEntityNames.hh index 01e84288c0..e9fc50f58a 100644 --- a/include/gz/sim/components/LevelEntityNames.hh +++ b/include/gz/sim/components/LevelEntityNames.hh @@ -81,7 +81,7 @@ namespace components Component, class LevelEntityNamesTag, serializers::LevelEntityNamesSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LevelEntityNames", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LevelEntityNames", LevelEntityNames) } } diff --git a/include/gz/sim/components/Lidar.hh b/include/gz/sim/components/Lidar.hh index 6b0568b815..84a80d1832 100644 --- a/include/gz/sim/components/Lidar.hh +++ b/include/gz/sim/components/Lidar.hh @@ -35,7 +35,7 @@ namespace components /// sdf::Lidar, information. using Lidar = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Lidar", Lidar) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Lidar", Lidar) } } } diff --git a/include/gz/sim/components/Light.hh b/include/gz/sim/components/Light.hh index b8d1fc7a9d..fc718732cc 100644 --- a/include/gz/sim/components/Light.hh +++ b/include/gz/sim/components/Light.hh @@ -46,7 +46,7 @@ namespace components /// element](http://sdformat.org/spec?ver=1.6&elem=light). using Light = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Light", Light) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Light", Light) } } } diff --git a/include/gz/sim/components/LightCmd.hh b/include/gz/sim/components/LightCmd.hh index fa9028cfcd..655db8226c 100644 --- a/include/gz/sim/components/LightCmd.hh +++ b/include/gz/sim/components/LightCmd.hh @@ -39,7 +39,7 @@ namespace components /// entity in the world frame represented by msgs::Light. using LightCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LightCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LightCmd", LightCmd) } } diff --git a/include/gz/sim/components/LightType.hh b/include/gz/sim/components/LightType.hh index ddcefe77d5..bbef149698 100644 --- a/include/gz/sim/components/LightType.hh +++ b/include/gz/sim/components/LightType.hh @@ -37,7 +37,7 @@ namespace components /// around std::string using LightType = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LightType", LightType) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LightType", LightType) } } } diff --git a/include/gz/sim/components/LinearAcceleration.hh b/include/gz/sim/components/LinearAcceleration.hh index 23254a21d2..211440b93b 100644 --- a/include/gz/sim/components/LinearAcceleration.hh +++ b/include/gz/sim/components/LinearAcceleration.hh @@ -37,14 +37,14 @@ namespace components /// represented by gz::math::Vector3d. using LinearAcceleration = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LinearAcceleration", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LinearAcceleration", LinearAcceleration) /// \brief A component type that contains linear acceleration of an entity /// in the world frame represented by gz::math::Vector3d. using WorldLinearAcceleration = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WorldLinearAcceleration", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WorldLinearAcceleration", WorldLinearAcceleration) } } diff --git a/include/gz/sim/components/LinearVelocity.hh b/include/gz/sim/components/LinearVelocity.hh index 916c33c89f..38e48b2580 100644 --- a/include/gz/sim/components/LinearVelocity.hh +++ b/include/gz/sim/components/LinearVelocity.hh @@ -33,14 +33,14 @@ namespace components /// \brief A component type that contains linear velocity of an entity /// represented by gz::math::Vector3d. using LinearVelocity = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.LinearVelocity", LinearVelocity) /// \brief A component type that contains linear velocity of an entity in the /// world frame represented by gz::math::Vector3d. using WorldLinearVelocity = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.WorldLinearVelocity", WorldLinearVelocity) } } diff --git a/include/gz/sim/components/LinearVelocityCmd.hh b/include/gz/sim/components/LinearVelocityCmd.hh index 9ef0d486c0..df0796b32f 100644 --- a/include/gz/sim/components/LinearVelocityCmd.hh +++ b/include/gz/sim/components/LinearVelocityCmd.hh @@ -37,7 +37,7 @@ namespace components /// frame. using LinearVelocityCmd = Component< math::Vector3d, class LinearVelocityCmdTag>; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.LinearVelocityCmd", LinearVelocityCmd) /// \brief A component type that contains the commanded linear velocity of an @@ -45,7 +45,7 @@ namespace components /// frame. using WorldLinearVelocityCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.WorldLinearVelocityCmd", WorldLinearVelocityCmd) } } diff --git a/include/gz/sim/components/LinearVelocitySeed.hh b/include/gz/sim/components/LinearVelocitySeed.hh index 143e93c4c0..258e1e2b17 100644 --- a/include/gz/sim/components/LinearVelocitySeed.hh +++ b/include/gz/sim/components/LinearVelocitySeed.hh @@ -36,7 +36,7 @@ namespace components /// by applying transformations and adding noise. using LinearVelocitySeed = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LinearVelocitySeed", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LinearVelocitySeed", LinearVelocitySeed) /// \brief A component type that contains linear velocity seed of an entity in @@ -45,7 +45,7 @@ namespace components /// noise. using WorldLinearVelocitySeed = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WorldLinearVelocitySeed", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WorldLinearVelocitySeed", WorldLinearVelocitySeed) } } diff --git a/include/gz/sim/components/Link.hh b/include/gz/sim/components/Link.hh index 29b9b5e487..c3f7ee5adb 100644 --- a/include/gz/sim/components/Link.hh +++ b/include/gz/sim/components/Link.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component that identifies an entity as being a link. using Link = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Link", Link) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Link", Link) } } } diff --git a/include/gz/sim/components/LogPlaybackStatistics.hh b/include/gz/sim/components/LogPlaybackStatistics.hh index e17b262766..c82bbcc63c 100644 --- a/include/gz/sim/components/LogPlaybackStatistics.hh +++ b/include/gz/sim/components/LogPlaybackStatistics.hh @@ -38,7 +38,7 @@ namespace components /// being loaded using LogPlaybackStatistics = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LogPlaybackStatistics", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LogPlaybackStatistics", LogPlaybackStatistics) } } diff --git a/include/gz/sim/components/LogicalAudio.hh b/include/gz/sim/components/LogicalAudio.hh index 3dd84d15ff..db27ee08e2 100644 --- a/include/gz/sim/components/LogicalAudio.hh +++ b/include/gz/sim/components/LogicalAudio.hh @@ -283,7 +283,7 @@ namespace serializers // using separate namespace blocks so all components appear in Doxygen // (appears as if Doxygen can't parse multiple components in a single -// namespace block since IGN_GAZEBO_REGISTER_COMPONENT doesn't have a +// namespace block since GZ_SIM_REGISTER_COMPONENT doesn't have a // trailing semicolon) namespace components { @@ -292,7 +292,7 @@ namespace components using LogicalAudioSource = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LogicalAudioSource", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LogicalAudioSource", LogicalAudioSource) } @@ -303,7 +303,7 @@ namespace components using LogicalAudioSourcePlayInfo = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.LogicalAudioSourcePlayInfo", LogicalAudioSourcePlayInfo) } @@ -315,7 +315,7 @@ namespace components using LogicalMicrophone = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LogicalMicrophone", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LogicalMicrophone", LogicalMicrophone) } } diff --git a/include/gz/sim/components/LogicalCamera.hh b/include/gz/sim/components/LogicalCamera.hh index 7ee9f9f27a..c4c1b92a28 100644 --- a/include/gz/sim/components/LogicalCamera.hh +++ b/include/gz/sim/components/LogicalCamera.hh @@ -33,7 +33,7 @@ namespace components /// \brief TODO(anyone) Substitute with sdf::LogicalCamera once that exists? /// This is currently the whole `` element. using LogicalCamera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.LogicalCamera", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.LogicalCamera", LogicalCamera) } } diff --git a/include/gz/sim/components/MagneticField.hh b/include/gz/sim/components/MagneticField.hh index df80493b8b..578230099d 100644 --- a/include/gz/sim/components/MagneticField.hh +++ b/include/gz/sim/components/MagneticField.hh @@ -35,7 +35,7 @@ namespace components { /// \brief Stores the 3D magnetic field in teslas. using MagneticField = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.MagneticField", MagneticField) } } diff --git a/include/gz/sim/components/Magnetometer.hh b/include/gz/sim/components/Magnetometer.hh index 6fbcf6d588..7c620f8fc6 100644 --- a/include/gz/sim/components/Magnetometer.hh +++ b/include/gz/sim/components/Magnetometer.hh @@ -39,7 +39,7 @@ namespace components using Magnetometer = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.Magnetometer", Magnetometer) } } diff --git a/include/gz/sim/components/Material.hh b/include/gz/sim/components/Material.hh index 85a5f076e8..fc40357cdb 100644 --- a/include/gz/sim/components/Material.hh +++ b/include/gz/sim/components/Material.hh @@ -42,7 +42,7 @@ namespace components /// \brief This component holds an entity's material. using Material = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Material", Material) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Material", Material) } } } diff --git a/include/gz/sim/components/Model.hh b/include/gz/sim/components/Model.hh index 6aa829ab8d..8b68028786 100644 --- a/include/gz/sim/components/Model.hh +++ b/include/gz/sim/components/Model.hh @@ -109,13 +109,13 @@ namespace components { /// \brief A component that identifies an entity as being a model. using Model = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Model", Model) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Model", Model) /// \brief A component that holds the model's SDF DOM using ModelSdf = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ModelSdf", ModelSdf) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ModelSdf", ModelSdf) } } } diff --git a/include/gz/sim/components/Name.hh b/include/gz/sim/components/Name.hh index 5b498d4ddc..6681c183f8 100644 --- a/include/gz/sim/components/Name.hh +++ b/include/gz/sim/components/Name.hh @@ -35,7 +35,7 @@ namespace components /// of scoped names nor does it care about uniqueness. using Name = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Name", Name) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Name", Name) } } } diff --git a/include/gz/sim/components/NavSat.hh b/include/gz/sim/components/NavSat.hh index d147cb20e1..922461d1c3 100644 --- a/include/gz/sim/components/NavSat.hh +++ b/include/gz/sim/components/NavSat.hh @@ -38,7 +38,7 @@ namespace components /// sdf::NavSat, information. using NavSat = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.NavSat", NavSat) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.NavSat", NavSat) } } } diff --git a/include/gz/sim/components/ParentEntity.hh b/include/gz/sim/components/ParentEntity.hh index 75dcdde6d9..21fae39f5f 100644 --- a/include/gz/sim/components/ParentEntity.hh +++ b/include/gz/sim/components/ParentEntity.hh @@ -39,7 +39,7 @@ namespace components /// edited by hand, and instead, entities should be created using /// the `sim::SdfEntityCreator` class. using ParentEntity = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.ParentEntity", ParentEntity) } } diff --git a/include/gz/sim/components/ParentLinkName.hh b/include/gz/sim/components/ParentLinkName.hh index 191f5bbb2a..4e7854336d 100644 --- a/include/gz/sim/components/ParentLinkName.hh +++ b/include/gz/sim/components/ParentLinkName.hh @@ -34,7 +34,7 @@ namespace components /// \brief Holds the name of the entity's parent link. using ParentLinkName = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.ParentLinkName", ParentLinkName) } } diff --git a/include/gz/sim/components/ParticleEmitter.hh b/include/gz/sim/components/ParticleEmitter.hh index 81a18dcadc..1338263232 100644 --- a/include/gz/sim/components/ParticleEmitter.hh +++ b/include/gz/sim/components/ParticleEmitter.hh @@ -35,14 +35,14 @@ namespace components using ParticleEmitter = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ParticleEmitter", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ParticleEmitter", ParticleEmitter) /// \brief A component that contains a particle emitter command. using ParticleEmitterCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ParticleEmitterCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ParticleEmitterCmd", ParticleEmitterCmd) } } diff --git a/include/gz/sim/components/Performer.hh b/include/gz/sim/components/Performer.hh index ea6466a689..2323b67275 100644 --- a/include/gz/sim/components/Performer.hh +++ b/include/gz/sim/components/Performer.hh @@ -33,7 +33,7 @@ namespace components { /// \brief This component identifies an entity as being a performer. using Performer = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Performer", Performer) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Performer", Performer) } } } diff --git a/include/gz/sim/components/PerformerAffinity.hh b/include/gz/sim/components/PerformerAffinity.hh index 64dd150cec..2551dc1288 100644 --- a/include/gz/sim/components/PerformerAffinity.hh +++ b/include/gz/sim/components/PerformerAffinity.hh @@ -38,7 +38,7 @@ namespace components /// this performer is associated with. using PerformerAffinity = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.PerformerAffinity", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.PerformerAffinity", PerformerAffinity) } } diff --git a/include/gz/sim/components/PerformerLevels.hh b/include/gz/sim/components/PerformerLevels.hh index 52f8ed52a3..d6715568eb 100644 --- a/include/gz/sim/components/PerformerLevels.hh +++ b/include/gz/sim/components/PerformerLevels.hh @@ -75,7 +75,7 @@ namespace components /// \brief Holds all the levels which a performer is in. using PerformerLevels = Component, class PerformerLevelsTag, serializers::PerformerLevelsSerializer>; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.PerformerLevels", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.PerformerLevels", PerformerLevels) } } diff --git a/include/gz/sim/components/Physics.hh b/include/gz/sim/components/Physics.hh index c4fd8d3d12..e486c0d0b9 100644 --- a/include/gz/sim/components/Physics.hh +++ b/include/gz/sim/components/Physics.hh @@ -48,14 +48,14 @@ namespace components /// the World entity. using Physics = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Physics", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Physics", Physics) /// \brief The name of the collision detector to be used. The supported /// options will depend on the physics engine being used. using PhysicsCollisionDetector = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.PhysicsCollisionDetector", PhysicsCollisionDetector) @@ -63,7 +63,7 @@ namespace components /// depend on the physics engine being used. using PhysicsSolver = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.PhysicsSolver", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.PhysicsSolver", PhysicsSolver) } } diff --git a/include/gz/sim/components/PhysicsCmd.hh b/include/gz/sim/components/PhysicsCmd.hh index 56b9210d41..f4630c8b26 100644 --- a/include/gz/sim/components/PhysicsCmd.hh +++ b/include/gz/sim/components/PhysicsCmd.hh @@ -36,7 +36,7 @@ namespace components /// \brief A component type that contains the physics properties of /// the World entity. using PhysicsCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.PhysicsCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.PhysicsCmd", PhysicsCmd) } } diff --git a/include/gz/sim/components/PhysicsEnginePlugin.hh b/include/gz/sim/components/PhysicsEnginePlugin.hh index 8c4312f09b..dd36a58679 100644 --- a/include/gz/sim/components/PhysicsEnginePlugin.hh +++ b/include/gz/sim/components/PhysicsEnginePlugin.hh @@ -34,7 +34,7 @@ namespace components /// \brief Holds the physics engine shared library. using PhysicsEnginePlugin = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.PhysicsEnginePlugin", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.PhysicsEnginePlugin", PhysicsEnginePlugin) } } diff --git a/include/gz/sim/components/Pose.hh b/include/gz/sim/components/Pose.hh index 75cd9a5bc7..d9a9fa3096 100644 --- a/include/gz/sim/components/Pose.hh +++ b/include/gz/sim/components/Pose.hh @@ -33,19 +33,19 @@ namespace components /// \brief A component type that contains pose, gz::math::Pose3d, /// information. using Pose = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Pose", Pose) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Pose", Pose) /// \brief A component type that contains pose, gz::math::Pose3d, /// information in world frame. using WorldPose = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.WorldPose", WorldPose) /// \brief A component type that contains pose, gz::math::Pose3d, /// information within a trajectory. using TrajectoryPose = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.TrajectoryPose", TrajectoryPose) } } diff --git a/include/gz/sim/components/PoseCmd.hh b/include/gz/sim/components/PoseCmd.hh index 5ee3b6f3ac..0d8691664a 100644 --- a/include/gz/sim/components/PoseCmd.hh +++ b/include/gz/sim/components/PoseCmd.hh @@ -36,7 +36,7 @@ namespace components /// \brief A component type that contains commanded pose of an /// entity in the world frame represented by gz::math::Pose3d. using WorldPoseCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WorldPoseCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WorldPoseCmd", WorldPoseCmd) } } diff --git a/include/gz/sim/components/Recreate.hh b/include/gz/sim/components/Recreate.hh index e211054768..a2e06be1ce 100644 --- a/include/gz/sim/components/Recreate.hh +++ b/include/gz/sim/components/Recreate.hh @@ -39,7 +39,7 @@ namespace components /// existing model. The existing model is tagged with this component so /// that it can be recreated by the server. using Recreate = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Recreate", Recreate) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Recreate", Recreate) } } } diff --git a/include/gz/sim/components/RenderEngineGuiPlugin.hh b/include/gz/sim/components/RenderEngineGuiPlugin.hh index 951d501918..e03008e0cc 100644 --- a/include/gz/sim/components/RenderEngineGuiPlugin.hh +++ b/include/gz/sim/components/RenderEngineGuiPlugin.hh @@ -34,7 +34,7 @@ namespace components /// \brief Holds the render engine gui shared library. using RenderEngineGuiPlugin = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.RenderEngineGuiPlugin", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.RenderEngineGuiPlugin", RenderEngineGuiPlugin) } } diff --git a/include/gz/sim/components/RenderEngineServerHeadless.hh b/include/gz/sim/components/RenderEngineServerHeadless.hh index 929c7c9d1a..66a071ffbf 100644 --- a/include/gz/sim/components/RenderEngineServerHeadless.hh +++ b/include/gz/sim/components/RenderEngineServerHeadless.hh @@ -34,7 +34,7 @@ namespace components /// \brief Holds the headless mode. using RenderEngineServerHeadless = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.RenderEngineServerHeadless", RenderEngineServerHeadless) } diff --git a/include/gz/sim/components/RenderEngineServerPlugin.hh b/include/gz/sim/components/RenderEngineServerPlugin.hh index 829c3d7576..52ede4acf9 100644 --- a/include/gz/sim/components/RenderEngineServerPlugin.hh +++ b/include/gz/sim/components/RenderEngineServerPlugin.hh @@ -34,7 +34,7 @@ namespace components /// \brief Holds the render engine server shared library. using RenderEngineServerPlugin = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.RenderEngineServerPlugin", RenderEngineServerPlugin) } diff --git a/include/gz/sim/components/RgbdCamera.hh b/include/gz/sim/components/RgbdCamera.hh index 5ec5d1e1db..8c016b580c 100644 --- a/include/gz/sim/components/RgbdCamera.hh +++ b/include/gz/sim/components/RgbdCamera.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Camera, information. using RgbdCamera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.RgbdCamera", RgbdCamera) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.RgbdCamera", RgbdCamera) } } } diff --git a/include/gz/sim/components/Scene.hh b/include/gz/sim/components/Scene.hh index 953bccb4d6..ac2176e044 100644 --- a/include/gz/sim/components/Scene.hh +++ b/include/gz/sim/components/Scene.hh @@ -43,7 +43,7 @@ namespace components /// \brief This component holds scene properties of the world. using Scene = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.Scene", Scene) } } diff --git a/include/gz/sim/components/SegmentationCamera.hh b/include/gz/sim/components/SegmentationCamera.hh index cade71b82e..3feddf53b3 100644 --- a/include/gz/sim/components/SegmentationCamera.hh +++ b/include/gz/sim/components/SegmentationCamera.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Camera, information. using SegmentationCamera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SegmentationCamera", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SegmentationCamera", SegmentationCamera) } } diff --git a/include/gz/sim/components/SelfCollide.hh b/include/gz/sim/components/SelfCollide.hh index 2299f62fff..d6468bc130 100644 --- a/include/gz/sim/components/SelfCollide.hh +++ b/include/gz/sim/components/SelfCollide.hh @@ -32,7 +32,7 @@ namespace components /// \brief A component used to hold a model's self collide property. using SelfCollide = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SelfCollide", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SelfCollide", SelfCollide) } } diff --git a/include/gz/sim/components/SemanticLabel.hh b/include/gz/sim/components/SemanticLabel.hh index 9e8d7acec7..9e723e97a2 100644 --- a/include/gz/sim/components/SemanticLabel.hh +++ b/include/gz/sim/components/SemanticLabel.hh @@ -34,7 +34,7 @@ namespace components /// case of the Label component is with Segmentation & Bounding box /// sensors to generate dataset annotations. using SemanticLabel = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SemanticLabel", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SemanticLabel", SemanticLabel) } } diff --git a/include/gz/sim/components/Sensor.hh b/include/gz/sim/components/Sensor.hh index 39225d680c..04c411b854 100644 --- a/include/gz/sim/components/Sensor.hh +++ b/include/gz/sim/components/Sensor.hh @@ -33,7 +33,7 @@ namespace components { /// \brief A component that identifies an entity as being a sensor. using Sensor = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Sensor", Sensor) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Sensor", Sensor) /// \brief Name of the transport topic where a sensor is publishing its /// data. @@ -41,7 +41,7 @@ namespace components /// prefix common to all topics of that sensor. using SensorTopic = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SensorTopic", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SensorTopic", SensorTopic) } } diff --git a/include/gz/sim/components/SlipComplianceCmd.hh b/include/gz/sim/components/SlipComplianceCmd.hh index dad272ef44..787efe6a1b 100644 --- a/include/gz/sim/components/SlipComplianceCmd.hh +++ b/include/gz/sim/components/SlipComplianceCmd.hh @@ -40,7 +40,7 @@ namespace components /// direction 2 (fdir2) respectively. using SlipComplianceCmd = Component, class SlipComplianceCmdTag>; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SlipComplianceCmd ", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SlipComplianceCmd ", SlipComplianceCmd) } } diff --git a/include/gz/sim/components/SourceFilePath.hh b/include/gz/sim/components/SourceFilePath.hh index c23c43a209..ed2411187f 100644 --- a/include/gz/sim/components/SourceFilePath.hh +++ b/include/gz/sim/components/SourceFilePath.hh @@ -37,7 +37,7 @@ namespace components using SourceFilePath = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SourceFilePath", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SourceFilePath", SourceFilePath) } } diff --git a/include/gz/sim/components/SphericalCoordinates.hh b/include/gz/sim/components/SphericalCoordinates.hh index 9a69a47bce..11a11b1422 100644 --- a/include/gz/sim/components/SphericalCoordinates.hh +++ b/include/gz/sim/components/SphericalCoordinates.hh @@ -43,7 +43,7 @@ namespace components using SphericalCoordinates = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.SphericalCoordinates", SphericalCoordinates) } } diff --git a/include/gz/sim/components/Static.hh b/include/gz/sim/components/Static.hh index 7d6ca8ecf6..6bbff98b30 100644 --- a/include/gz/sim/components/Static.hh +++ b/include/gz/sim/components/Static.hh @@ -32,7 +32,7 @@ namespace components /// \brief A component used to indicate that a model is static (i.e. not /// moveable). using Static = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Static", Static) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Static", Static) } } } diff --git a/include/gz/sim/components/SystemPluginInfo.hh b/include/gz/sim/components/SystemPluginInfo.hh index 4c05317fa5..73559b255f 100644 --- a/include/gz/sim/components/SystemPluginInfo.hh +++ b/include/gz/sim/components/SystemPluginInfo.hh @@ -37,7 +37,7 @@ namespace components /// simulation. using SystemPluginInfo = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.SystemPluginInfo", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SystemPluginInfo", SystemPluginInfo) } } diff --git a/include/gz/sim/components/Temperature.hh b/include/gz/sim/components/Temperature.hh index f59e8754d6..c8485e6722 100644 --- a/include/gz/sim/components/Temperature.hh +++ b/include/gz/sim/components/Temperature.hh @@ -33,12 +33,12 @@ namespace components { /// \brief A component that stores temperature data in Kelvin using Temperature = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Temperature", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Temperature", Temperature) /// \brief A component that stores temperature linear resolution in Kelvin using TemperatureLinearResolution = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.TemperatureLinearResolution", TemperatureLinearResolution) } diff --git a/include/gz/sim/components/TemperatureRange.hh b/include/gz/sim/components/TemperatureRange.hh index 7861b551f9..ba8cd85b25 100644 --- a/include/gz/sim/components/TemperatureRange.hh +++ b/include/gz/sim/components/TemperatureRange.hh @@ -89,7 +89,7 @@ namespace components /// \brief A component that stores a temperature range in kelvin using TemperatureRange = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.TemperatureRange", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.TemperatureRange", TemperatureRange) } } diff --git a/include/gz/sim/components/ThermalCamera.hh b/include/gz/sim/components/ThermalCamera.hh index a9aeead5a0..09d26e3fef 100644 --- a/include/gz/sim/components/ThermalCamera.hh +++ b/include/gz/sim/components/ThermalCamera.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Sensor, information. using ThermalCamera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.ThermalCamera", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.ThermalCamera", ThermalCamera) } } diff --git a/include/gz/sim/components/ThreadPitch.hh b/include/gz/sim/components/ThreadPitch.hh index 23a6907b1d..e0833ec694 100644 --- a/include/gz/sim/components/ThreadPitch.hh +++ b/include/gz/sim/components/ThreadPitch.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component used to store the thread pitch of a screw joint using ThreadPitch = Component; - IGN_GAZEBO_REGISTER_COMPONENT( + GZ_SIM_REGISTER_COMPONENT( "gz_sim_components.ThreadPitch", ThreadPitch) } } diff --git a/include/gz/sim/components/Transparency.hh b/include/gz/sim/components/Transparency.hh index 45d2c8555e..725a39a1ac 100644 --- a/include/gz/sim/components/Transparency.hh +++ b/include/gz/sim/components/Transparency.hh @@ -33,7 +33,7 @@ namespace components /// e.g. visual entities. Value is in the range from 0 (opaque) to /// 1 (transparent). using Transparency = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Transparency", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Transparency", Transparency) } } diff --git a/include/gz/sim/components/Visibility.hh b/include/gz/sim/components/Visibility.hh index b11e3f7a09..032c8915c0 100644 --- a/include/gz/sim/components/Visibility.hh +++ b/include/gz/sim/components/Visibility.hh @@ -32,13 +32,13 @@ namespace components { /// \brief This component holds an entity's visibility flags (visual entities) using VisibilityFlags = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.VisibilityFlags", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.VisibilityFlags", VisibilityFlags) /// \brief This component holds an entity's visibility mask /// (camera sensor entities) using VisibilityMask = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.VisibilityMask", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.VisibilityMask", VisibilityMask) } } diff --git a/include/gz/sim/components/Visual.hh b/include/gz/sim/components/Visual.hh index 0c555433e7..89a15a190b 100644 --- a/include/gz/sim/components/Visual.hh +++ b/include/gz/sim/components/Visual.hh @@ -78,13 +78,13 @@ namespace components { /// \brief A component that identifies an entity as being a visual. using Visual = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Visual", Visual) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Visual", Visual) /// \brief A component that contains a visual plugin's SDF element. using VisualPlugin = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.VisualPlugin", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.VisualPlugin", VisualPlugin) } } diff --git a/include/gz/sim/components/VisualCmd.hh b/include/gz/sim/components/VisualCmd.hh index 88e5cecc33..9a2ae3758f 100644 --- a/include/gz/sim/components/VisualCmd.hh +++ b/include/gz/sim/components/VisualCmd.hh @@ -39,7 +39,7 @@ namespace components /// entity in the world frame represented by msgs::Visual. using VisualCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.VisualCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.VisualCmd", VisualCmd) } } diff --git a/include/gz/sim/components/Volume.hh b/include/gz/sim/components/Volume.hh index 018797368e..f1285d7cb3 100644 --- a/include/gz/sim/components/Volume.hh +++ b/include/gz/sim/components/Volume.hh @@ -32,7 +32,7 @@ namespace components /// \brief A volume component where the units are m^3. /// Double value indicates volume of an entity. using Volume = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Volume", Volume) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Volume", Volume) } } } diff --git a/include/gz/sim/components/WheelSlipCmd.hh b/include/gz/sim/components/WheelSlipCmd.hh index fd3f7be269..850062a60e 100644 --- a/include/gz/sim/components/WheelSlipCmd.hh +++ b/include/gz/sim/components/WheelSlipCmd.hh @@ -37,7 +37,7 @@ namespace components /// an entity in the world frame represented by msgs::WheelSlipParameters. using WheelSlipCmd = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WheelSlipCmd", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WheelSlipCmd", WheelSlipCmd) } } diff --git a/include/gz/sim/components/WideAngleCamera.hh b/include/gz/sim/components/WideAngleCamera.hh index 3ed9a27fad..9d41b2822b 100644 --- a/include/gz/sim/components/WideAngleCamera.hh +++ b/include/gz/sim/components/WideAngleCamera.hh @@ -36,7 +36,7 @@ namespace components /// sdf::Camera, information. using WideAngleCamera = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WideAngleCamera", + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WideAngleCamera", WideAngleCamera) } } diff --git a/include/gz/sim/components/Wind.hh b/include/gz/sim/components/Wind.hh index 1ef026020d..26d8e53499 100644 --- a/include/gz/sim/components/Wind.hh +++ b/include/gz/sim/components/Wind.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component that identifies an entity as being a wind. using Wind = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.Wind", Wind) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Wind", Wind) } } } diff --git a/include/gz/sim/components/WindMode.hh b/include/gz/sim/components/WindMode.hh index d7288fe062..b87a1c6016 100644 --- a/include/gz/sim/components/WindMode.hh +++ b/include/gz/sim/components/WindMode.hh @@ -31,7 +31,7 @@ namespace components { /// \brief A component used to indicate whether an entity is affected by wind. using WindMode = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WindMode", WindMode) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WindMode", WindMode) } } } diff --git a/include/gz/sim/components/World.hh b/include/gz/sim/components/World.hh index 469799aa89..e28ef13585 100644 --- a/include/gz/sim/components/World.hh +++ b/include/gz/sim/components/World.hh @@ -33,11 +33,11 @@ namespace components { /// \brief A component that identifies an entity as being a world. using World = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.World", World) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.World", World) /// \brief A component that holds the world's SDF DOM using WorldSdf = Component; - IGN_GAZEBO_REGISTER_COMPONENT("gz_sim_components.WorldSdf", WorldSdf) + GZ_SIM_REGISTER_COMPONENT("gz_sim_components.WorldSdf", WorldSdf) } } } diff --git a/include/gz/sim/detail/BaseView.hh b/include/gz/sim/detail/BaseView.hh index 75aab68a2e..636e23e2bf 100644 --- a/include/gz/sim/detail/BaseView.hh +++ b/include/gz/sim/detail/BaseView.hh @@ -213,7 +213,7 @@ class GZ_GAZEBO_VISIBLE BaseView protected: std::set componentTypes; }; } // namespace detail -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz #endif diff --git a/include/gz/sim/detail/View.hh b/include/gz/sim/detail/View.hh index 5fe4e7840f..9c999a43bd 100644 --- a/include/gz/sim/detail/View.hh +++ b/include/gz/sim/detail/View.hh @@ -184,7 +184,7 @@ void View::AddEntityWithComps(const Entity &_entity, const bool _new, this->newEntities.insert(_entity); } } // namespace detail -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz #endif diff --git a/include/gz/sim/gui/Gui.hh b/include/gz/sim/gui/Gui.hh index cb820d5d7a..82c4f6bdc6 100644 --- a/include/gz/sim/gui/Gui.hh +++ b/include/gz/sim/gui/Gui.hh @@ -40,7 +40,7 @@ namespace gui /// \param[in] _argv Command line arguments (Used when running without /// ign-tools. Set to the name of the application if using ign-tools) /// \param[in] _guiConfig The GUI configuration file. If nullptr, the default - /// configuration from IGN_HOMEDIR/.gz/sim/gui.config will be used. + /// configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used. /// \param[in] _renderEngineGui --render-engine-gui option /// \return -1 on failure, 0 on success GZ_GAZEBO_GUI_VISIBLE int runGui(int &_argc, @@ -54,12 +54,12 @@ namespace gui /// \param[in] _argv Command line arguments (Used when running without /// ign-tools. Set to the name of the application if using ign-tools) /// \param[in] _guiConfig The GUI configuration file. If nullptr, the default - /// configuration from IGN_HOMEDIR/.gz/sim/gui.config will be used. + /// configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used. /// \param[in] _defaultGuiConfig The default GUI configuration file. If no /// plugins were added from a world file or from _guiConfig, this /// configuration file will be loaded. If this argument is a nullptr or if the /// file does not exist, the default configuration from - /// IGN_HOMEDIR/.gz/sim/gui.config will be used. + /// GZ_HOMEDIR/.gz/sim/gui.config will be used. /// \param[in] _loadPluginsFromSdf If true, plugins specified in the world /// SDFormat file will get loaded. /// \param[in] _renderEngineGui --render-engine-gui option @@ -71,7 +71,7 @@ namespace gui const char *_renderEngine = nullptr); } // namespace gui -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/include/gz/sim/gui/GuiEvents.hh b/include/gz/sim/gui/GuiEvents.hh index 5333667bfa..6c1b48d9ba 100644 --- a/include/gz/sim/gui/GuiEvents.hh +++ b/include/gz/sim/gui/GuiEvents.hh @@ -130,7 +130,7 @@ namespace events /// \internal /// \brief Private data pointer - IGN_UTILS_IMPL_PTR(dataPtr) + GZ_UTILS_IMPL_PTR(dataPtr) }; /// \brief Event that notifies when new entities have been created or removed @@ -156,7 +156,7 @@ namespace events /// \internal /// \brief Private data pointer - IGN_UTILS_IMPL_PTR(dataPtr) + GZ_UTILS_IMPL_PTR(dataPtr) }; /// \brief True if a transform control is currently active (translate / @@ -211,7 +211,7 @@ namespace events /// \internal /// \brief Private data pointer - IGN_UTILS_IMPL_PTR(dataPtr) + GZ_UTILS_IMPL_PTR(dataPtr) }; /// \brief Event that notifies a visual plugin is to be loaded @@ -233,7 +233,7 @@ namespace events /// \internal /// \brief Private data pointer - IGN_UTILS_IMPL_PTR(dataPtr) + GZ_UTILS_IMPL_PTR(dataPtr) }; } // namespace events } diff --git a/include/ignition/gazebo/components/Factory.hh b/include/ignition/gazebo/components/Factory.hh index f1bdcf3c51..752e94003a 100644 --- a/include/ignition/gazebo/components/Factory.hh +++ b/include/ignition/gazebo/components/Factory.hh @@ -17,3 +17,6 @@ #include #include + +#define IGN_GAZEBO_REGISTER_COMPONENT(_compType, _classname) \ + GZ_SIM_REGISTER_COMPONENT(_compType, _classname) diff --git a/src/Barrier.hh b/src/Barrier.hh index ac9e738b4a..8c8fec0068 100644 --- a/src/Barrier.hh +++ b/src/Barrier.hh @@ -88,7 +88,7 @@ namespace gz /// \brief Pointer to private data. private: std::unique_ptr dataPtr; }; - } // namespace IGNITION_GAZEBO_VERSION_NAMESPACE + } // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/Component_TEST.cc b/src/Component_TEST.cc index 080fa05ade..9cc81c082b 100644 --- a/src/Component_TEST.cc +++ b/src/Component_TEST.cc @@ -63,7 +63,7 @@ TEST_F(ComponentTest, ComponentCanBeCopiedAfterDefaultCtor) ////////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(ComponentTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DataByMove)) +TEST_F(ComponentTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DataByMove)) { auto factory = components::Factory::Instance(); diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc index 319faf7e43..401e5f94ec 100644 --- a/src/Conversions_TEST.cc +++ b/src/Conversions_TEST.cc @@ -54,7 +54,7 @@ TEST(Conversions, Light) sdf::Light light; light.SetName("test_convert_light"); light.SetType(sdf::LightType::DIRECTIONAL); - light.SetRawPose({3, 2, 1, 0, IGN_PI, 0}); + light.SetRawPose({3, 2, 1, 0, GZ_PI, 0}); light.SetPoseRelativeTo("world"); light.SetCastShadows(true); light.SetVisualize(true); @@ -75,7 +75,7 @@ TEST(Conversions, Light) lightMsg = convert(light); EXPECT_EQ("test_convert_light", lightMsg.name()); EXPECT_EQ(msgs::Light_LightType_DIRECTIONAL, lightMsg.type()); - EXPECT_EQ(math::Pose3d(3, 2, 1, 0, IGN_PI, 0), + EXPECT_EQ(math::Pose3d(3, 2, 1, 0, GZ_PI, 0), msgs::Convert(lightMsg.pose())); /// \todo(anyone) add pose frame fields in ign-msgs? // EXPECT_EQ("world", lightMsg.pose_frame()); @@ -99,7 +99,7 @@ TEST(Conversions, Light) auto newLight = convert(lightMsg); EXPECT_EQ("test_convert_light", newLight.Name()); EXPECT_EQ(sdf::LightType::DIRECTIONAL, newLight.Type()); - EXPECT_EQ(math::Pose3d(3, 2, 1, 0, IGN_PI, 0), newLight.RawPose()); + EXPECT_EQ(math::Pose3d(3, 2, 1, 0, GZ_PI, 0), newLight.RawPose()); /// \todo(anyone) add pose frame fields in ign-msgs? // EXPECT_EQ("world", newLight.PoseRelativeTo()); EXPECT_TRUE(newLight.CastShadows()); diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index 1401553e2a..65f4a57119 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -357,7 +357,7 @@ Entity EntityComponentManager::CreateEntity() ///////////////////////////////////////////////// Entity EntityComponentManagerPrivate::CreateEntityImplementation(Entity _entity) { - IGN_PROFILE("EntityComponentManager::CreateEntityImplementation"); + GZ_PROFILE("EntityComponentManager::CreateEntityImplementation"); this->entities.AddVertex(std::to_string(_entity), _entity, _entity); // Add entity to the list of newly created entities @@ -781,12 +781,12 @@ void EntityComponentManager::RequestRemoveEntities() ///////////////////////////////////////////////// void EntityComponentManager::ProcessRemoveEntityRequests() { - IGN_PROFILE("EntityComponentManager::ProcessRemoveEntityRequests"); + GZ_PROFILE("EntityComponentManager::ProcessRemoveEntityRequests"); std::lock_guard lock(this->dataPtr->entityRemoveMutex); // Short-cut if erasing all entities if (this->dataPtr->removeAllEntities) { - IGN_PROFILE("RemoveAll"); + GZ_PROFILE("RemoveAll"); this->dataPtr->removeAllEntities = false; this->dataPtr->entities = EntityGraph(); this->dataPtr->toRemoveEntities.clear(); @@ -802,7 +802,7 @@ void EntityComponentManager::ProcessRemoveEntityRequests() } else { - IGN_PROFILE("Remove"); + GZ_PROFILE("Remove"); // Otherwise iterate through the list of entities to remove. for (const Entity entity : this->dataPtr->toRemoveEntities) { @@ -836,7 +836,7 @@ void EntityComponentManager::ProcessRemoveEntityRequests() bool EntityComponentManager::RemoveComponent( const Entity _entity, const ComponentTypeId &_typeId) { - IGN_PROFILE("EntityComponentManager::RemoveComponent"); + GZ_PROFILE("EntityComponentManager::RemoveComponent"); // Make sure the entity exists and has the component. if (!this->EntityHasComponentType(_entity, _typeId)) return false; @@ -1183,7 +1183,7 @@ const components::BaseComponent *EntityComponentManager::ComponentImplementation( const Entity _entity, const ComponentTypeId _type) const { - IGN_PROFILE("EntityComponentManager::ComponentImplementation"); + GZ_PROFILE("EntityComponentManager::ComponentImplementation"); // make sure the entity exists const auto typeMapIter = this->dataPtr->componentTypeIndex.find(_entity); @@ -1278,7 +1278,7 @@ detail::BaseView *EntityComponentManager::AddView( ////////////////////////////////////////////////// void EntityComponentManager::RebuildViews() { - IGN_PROFILE("EntityComponentManager::RebuildViews"); + GZ_PROFILE("EntityComponentManager::RebuildViews"); for (auto &viewPair : this->dataPtr->views) { auto &view = viewPair.second.first; @@ -1712,7 +1712,7 @@ void EntityComponentManager::State( void EntityComponentManager::SetState( const gz::msgs::SerializedState &_stateMsg) { - IGN_PROFILE("EntityComponentManager::SetState Non-map"); + GZ_PROFILE("EntityComponentManager::SetState Non-map"); // Create / remove / update entities for (int e = 0; e < _stateMsg.entities_size(); ++e) { @@ -1801,7 +1801,7 @@ void EntityComponentManager::SetState( void EntityComponentManager::SetState( const gz::msgs::SerializedStateMap &_stateMsg) { - IGN_PROFILE("EntityComponentManager::SetState Map"); + GZ_PROFILE("EntityComponentManager::SetState Map"); // Create / remove / update entities for (const auto &iter : _stateMsg.entities()) { diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc index 42e65d8d7b..e31b35eab9 100644 --- a/src/EntityComponentManager_TEST.cc +++ b/src/EntityComponentManager_TEST.cc @@ -50,31 +50,31 @@ inline namespace GZ_SIM_VERSION_NAMESPACE { namespace components { using IntComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", IntComponent) using UIntComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.UIntComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.UIntComponent", UIntComponent) using DoubleComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", DoubleComponent) using StringComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.StringComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.StringComponent", StringComponent) using BoolComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.BoolComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.BoolComponent", BoolComponent) using Even = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Even", Even) +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.Even", Even) using Odd = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Odd", Odd) +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.Odd", Odd) struct Custom { @@ -82,7 +82,7 @@ struct Custom }; using CustomComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.CustomComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.CustomComponent", CustomComponent) } } @@ -150,7 +150,7 @@ TEST_P(EntityComponentManagerFixture, InvalidComponentType) ///////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(RemoveComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(RemoveComponent)) { // Create some entities auto eInt = manager.CreateEntity(); @@ -228,7 +228,7 @@ TEST_P(EntityComponentManagerFixture, ///////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EntitiesAndComponents)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EntitiesAndComponents)) { EXPECT_EQ(0u, manager.EntityCount()); @@ -316,7 +316,7 @@ TEST_P(EntityComponentManagerFixture, ///////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ComponentValues)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ComponentValues)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -492,7 +492,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(RebuildViews)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(RebuildViews)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -562,7 +562,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ViewsAddComponents)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ViewsAddComponents)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -636,7 +636,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ViewsRemoveComponents)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ViewsRemoveComponents)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -711,7 +711,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ViewsAddEntity)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ViewsAddEntity)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -801,7 +801,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ViewsRemoveEntities)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ViewsRemoveEntities)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -938,7 +938,7 @@ TEST_P(EntityComponentManagerFixture, RemoveEntity) ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ViewsRemoveEntity)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ViewsRemoveEntity)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -1071,7 +1071,7 @@ int eachCount(EntityCompMgrTest &_manager) ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewBasic)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachNewBasic)) { // Create entities Entity e1 = manager.CreateEntity(); @@ -1116,7 +1116,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewAfterRemoveComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachNewAfterRemoveComponent)) { // Create entities Entity e1 = manager.CreateEntity(); @@ -1137,7 +1137,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewRemoveComponentFromRemoveEntity)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachNewRemoveComponentFromRemoveEntity)) { // Create entities Entity e1 = manager.CreateEntity(); @@ -1158,7 +1158,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewAddComponentToExistingEntity)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachNewAddComponentToExistingEntity)) { // Create entities Entity e1 = manager.CreateEntity(); @@ -1192,7 +1192,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveBasic)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveBasic)) { // Create an entities Entity e1 = manager.CreateEntity(); @@ -1225,7 +1225,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAlreadyRemove)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAlreadyRemove)) { // Create an entities Entity e1 = manager.CreateEntity(); @@ -1248,7 +1248,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAfterRebuild)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAfterRebuild)) { // Test after rebuild Entity e1 = manager.CreateEntity(); @@ -1268,7 +1268,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAddComponentToRemoveEntity)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAddComponentToRemoveEntity)) { Entity e1 = manager.CreateEntity(); auto comp1 = manager.CreateComponent(e1, IntComponent(123)); @@ -1287,7 +1287,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAllRemove)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachRemoveAllRemove)) { // Test when all entities are removed Entity e1 = manager.CreateEntity(); @@ -1307,7 +1307,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewEachRemove)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachNewEachRemove)) { // Test EachNew and EachRemove together Entity e1 = manager.CreateEntity(); @@ -1338,7 +1338,7 @@ TEST_P(EntityComponentManagerFixture, //////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachGetsNewOldRemove)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachGetsNewOldRemove)) { // Test that an Each call gets new, old, and removed entities Entity e1 = manager.CreateEntity(); @@ -1374,7 +1374,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachAddRemoveComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachAddRemoveComponent)) { // test calling ecm.Each on entities that have components added/removed // frequently. This is common with *Cmd components @@ -1435,7 +1435,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EntityByComponents)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EntityByComponents)) { // Create some entities Entity eInt = manager.CreateEntity(); @@ -1516,7 +1516,7 @@ TEST_P(EntityComponentManagerFixture, ///////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EntityGraph)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EntityGraph)) { EXPECT_EQ(0u, manager.EntityCount()); @@ -1655,7 +1655,7 @@ TEST_P(EntityComponentManagerFixture, } ///////////////////////////////////////////////// -TEST_P(EntityComponentManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) +TEST_P(EntityComponentManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(State)) { // Entities and components Entity e1{1}; @@ -1937,7 +1937,7 @@ TEST_P(EntityComponentManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) ///////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ChangedStateComponents)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ChangedStateComponents)) { // Entity and component Entity e1{1}; @@ -2219,7 +2219,7 @@ TEST_P(EntityComponentManagerFixture, Descendants) ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SetChanged)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SetChanged)) { // Create entities Entity e1 = manager.CreateEntity(); @@ -2311,7 +2311,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SetEntityCreateOffset)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SetEntityCreateOffset)) { // First entity should have a value of 1. Entity entity = manager.CreateEntity(); @@ -2330,7 +2330,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32( + GZ_UTILS_TEST_DISABLED_ON_WIN32( SerializedStateMapMsgAfterRemoveComponent)) { // Create entity @@ -2400,7 +2400,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SerializedStateMsgAfterRemoveComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SerializedStateMsgAfterRemoveComponent)) { // Create entity Entity e1 = manager.CreateEntity(); @@ -2465,7 +2465,7 @@ TEST_P(EntityComponentManagerFixture, // Verify SerializedStateMap message with no changed components, // but some removed components TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SerializedStateMapMsgCompsRemovedOnly)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SerializedStateMapMsgCompsRemovedOnly)) { // Create entity Entity e1 = manager.CreateEntity(); @@ -2510,7 +2510,7 @@ TEST_P(EntityComponentManagerFixture, // Verify that removed components are correctly filtered when creating a // SerializedStateMap message TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SetRemovedComponentsMsgTypesFilter)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SetRemovedComponentsMsgTypesFilter)) { // Create entity Entity e1 = manager.CreateEntity(); @@ -2552,7 +2552,7 @@ TEST_P(EntityComponentManagerFixture, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32( + GZ_UTILS_TEST_DISABLED_ON_WIN32( RemovedComponentsSyncBetweenServerAndGUI)) { // Simulate the GUI's ECM @@ -2678,7 +2678,7 @@ static void CompareEntityComponents(const EntityComponentManager &_ecm, ////////////////////////////////////////////////// TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(CloneEntities)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(CloneEntities)) { // testing entity cloning with the following entity structure: // - topLevelEntity @@ -2946,9 +2946,9 @@ TEST_P(EntityComponentManagerFixture, ///////////////////////////////////////////////// // Check that some widely used deprecated APIs still work TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(Deprecated)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(Deprecated)) { - IGN_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION + GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION // Fail to create component for inexistent entity EXPECT_EQ(nullptr, manager.CreateComponent(789, @@ -3016,7 +3016,7 @@ TEST_P(EntityComponentManagerFixture, EXPECT_FALSE(manager.EntityHasComponent(eIntDouble, cDoubleEIntDouble)); EXPECT_EQ(0u, manager.ComponentTypes(eIntDouble).size()); - IGN_UTILS_WARN_RESUME__DEPRECATED_DECLARATION + GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION } ////////////////////////////////////////////////// @@ -3081,7 +3081,7 @@ TEST_P(EntityComponentManagerFixture, PinnedEntity) /// \brief Test using msgs::SerializedStateMap and msgs::SerializedState /// to update existing component data between multiple ECMs TEST_P(EntityComponentManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(StateMsgUpdateComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(StateMsgUpdateComponent)) { // create 2 ECMs: one will be modified directly, and the other should be // updated to match the first via msgs::SerializedStateMap diff --git a/src/LevelManager.cc b/src/LevelManager.cc index e39246659f..5bea45099b 100644 --- a/src/LevelManager.cc +++ b/src/LevelManager.cc @@ -240,7 +240,7 @@ void LevelManager::ReadLevelPerformerInfo() ///////////////////////////////////////////////// void LevelManager::ReadPerformers(const sdf::ElementPtr &_sdf) { - IGN_PROFILE("LevelManager::ReadPerformers"); + GZ_PROFILE("LevelManager::ReadPerformers"); if (_sdf == nullptr) return; @@ -375,7 +375,7 @@ bool LevelManager::OnSetPerformer(const msgs::StringMsg &_req, ///////////////////////////////////////////////// void LevelManager::ReadLevels(const sdf::ElementPtr &_sdf) { - IGN_PROFILE("LevelManager::ReadLevels"); + GZ_PROFILE("LevelManager::ReadLevels"); gzdbg << "Reading levels info\n"; @@ -440,7 +440,7 @@ void LevelManager::ReadLevels(const sdf::ElementPtr &_sdf) ///////////////////////////////////////////////// void LevelManager::ConfigureDefaultLevel() { - IGN_PROFILE("LevelManager::ConfigureDefaultLevel"); + GZ_PROFILE("LevelManager::ConfigureDefaultLevel"); // Create the default level. This level contains all entities not contained by // any other level. @@ -517,7 +517,7 @@ void LevelManager::ConfigureDefaultLevel() ///////////////////////////////////////////////// void LevelManager::CreatePerformers() { - IGN_PROFILE("LevelManager::CreatePerformers"); + GZ_PROFILE("LevelManager::CreatePerformers"); if (this->worldEntity == kNullEntity) { @@ -564,7 +564,7 @@ void LevelManager::CreatePerformers() ///////////////////////////////////////////////// void LevelManager::UpdateLevelsState() { - IGN_PROFILE("LevelManager::UpdateLevelsState"); + GZ_PROFILE("LevelManager::UpdateLevelsState"); std::vector levelsToLoad; std::vector levelsToUnload; @@ -584,7 +584,7 @@ void LevelManager::UpdateLevelsState() } { - IGN_PROFILE("DefaultLevel"); + GZ_PROFILE("DefaultLevel"); // Handle default level this->runner->entityCompMgr.Each( [&](const Entity &_entity, const components::DefaultLevel *) -> bool @@ -612,7 +612,7 @@ void LevelManager::UpdateLevelsState() components::Geometry *_geometry, components::ParentEntity *_parent) -> bool { - IGN_PROFILE("EachPerformer"); + GZ_PROFILE("EachPerformer"); auto pose = this->runner->entityCompMgr.Component( _parent->Data()); @@ -643,7 +643,7 @@ void LevelManager::UpdateLevelsState() const components::Geometry *_levelGeometry, const components::LevelBuffer *_levelBuffer) -> bool { - IGN_PROFILE("CheckPerformerAgainstLevel"); + GZ_PROFILE("CheckPerformerAgainstLevel"); // Check if the performer is in this level // assume a box for now auto box = _levelGeometry->Data().BoxShape(); @@ -791,7 +791,7 @@ void LevelManager::UpdateLevelsState() ///////////////////////////////////////////////// void LevelManager::LoadActiveEntities(const std::set &_namesToLoad) { - IGN_PROFILE("LevelManager::LoadActiveEntities"); + GZ_PROFILE("LevelManager::LoadActiveEntities"); if (this->worldEntity == kNullEntity) { diff --git a/src/ModelCommandAPI_TEST.cc b/src/ModelCommandAPI_TEST.cc index fa58b5281d..4fabf89a9c 100644 --- a/src/ModelCommandAPI_TEST.cc +++ b/src/ModelCommandAPI_TEST.cc @@ -74,7 +74,7 @@ std::string customExecStr(std::string _cmd) ///////////////////////////////////////////////// // Test `ign model` command when no Gazebo server is running. // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST(ModelCommandAPI, IGN_UTILS_TEST_DISABLED_ON_WIN32(NoServerRunning)) +TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_WIN32(NoServerRunning)) { const std::string cmd = kIgnModelCommand + "--list "; const std::string output = customExecStr(cmd); @@ -87,7 +87,7 @@ TEST(ModelCommandAPI, IGN_UTILS_TEST_DISABLED_ON_WIN32(NoServerRunning)) ///////////////////////////////////////////////// // Tests `ign model` command. -TEST(ModelCommandAPI, IGN_UTILS_TEST_DISABLED_ON_WIN32(Commands)) +TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_WIN32(Commands)) { gz::sim::ServerConfig serverConfig; // Using an static model to avoid any movements in the simulation. @@ -595,7 +595,7 @@ TEST(ModelCommandAPI, MagnetometerSensor) ///////////////////////////////////////////////// // Tests `ign model -s` command with an rgbd camera. -TEST(ModelCommandAPI, IGN_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraSensor)) +TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraSensor)) { gz::sim::ServerConfig serverConfig; // Using an static model to avoid any movements in the simulation. diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc index 876fcffb4e..aa9a102579 100644 --- a/src/SdfEntityCreator.cc +++ b/src/SdfEntityCreator.cc @@ -218,7 +218,7 @@ SdfEntityCreator &SdfEntityCreator::operator=(SdfEntityCreator &&_creator) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::World *_world) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::World)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::World)"); // World entity Entity worldEntity = this->dataPtr->ecm->CreateEntity(); @@ -335,7 +335,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::World *_world) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Model)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Model)"); auto ent = this->CreateEntities(_model, false); @@ -471,7 +471,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model, ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Actor *_actor) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Actor)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Actor)"); // Entity Entity actorEntity = this->dataPtr->ecm->CreateEntity(); @@ -493,7 +493,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Actor *_actor) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Light *_light) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Light)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Light)"); // Entity Entity lightEntity = this->dataPtr->ecm->CreateEntity(); @@ -514,7 +514,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Light *_light) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Link *_link) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Link)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Link)"); // Entity Entity linkEntity = this->dataPtr->ecm->CreateEntity(); @@ -598,7 +598,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint) Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint, bool _resolved) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Joint)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Joint)"); // Entity Entity jointEntity = this->dataPtr->ecm->CreateEntity(); @@ -713,7 +713,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint, ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Visual)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Visual)"); // Entity Entity visualEntity = this->dataPtr->ecm->CreateEntity(); @@ -771,7 +771,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::ParticleEmitter *_emitter) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::ParticleEmitter)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::ParticleEmitter)"); // Entity Entity emitterEntity = this->dataPtr->ecm->CreateEntity(); @@ -790,7 +790,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::ParticleEmitter *_emitter) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Collision *_collision) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Collision)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Collision)"); // Entity Entity collisionEntity = this->dataPtr->ecm->CreateEntity(); @@ -818,7 +818,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Collision *_collision) ////////////////////////////////////////////////// Entity SdfEntityCreator::CreateEntities(const sdf::Sensor *_sensor) { - IGN_PROFILE("SdfEntityCreator::CreateEntities(sdf::Sensor)"); + GZ_PROFILE("SdfEntityCreator::CreateEntities(sdf::Sensor)"); // Entity Entity sensorEntity = this->dataPtr->ecm->CreateEntity(); diff --git a/src/SdfGenerator.cc b/src/SdfGenerator.cc index 411ce0d730..7b364e211a 100644 --- a/src/SdfGenerator.cc +++ b/src/SdfGenerator.cc @@ -393,7 +393,7 @@ namespace sdf_generator // https://example.org/1.0/test/models/Backpack // the path to the directory containing the sdf file (modelDir) // will be: - // $HOME/.ignition/fuel/example.org/test/models/Backpack/2/ + // $HOME/.gz/fuel/example.org/test/models/Backpack/2/ // and the basename of the directory is "1", which is the model // version. // @@ -1016,6 +1016,6 @@ namespace sdf_generator return true; } } -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/SdfGenerator.hh b/src/SdfGenerator.hh index c8cc3f770d..9919530eb1 100644 --- a/src/SdfGenerator.hh +++ b/src/SdfGenerator.hh @@ -143,7 +143,7 @@ namespace sdf_generator const EntityComponentManager &_ecm, const Entity &_entity); } // namespace sdf_generator -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/SdfGenerator_TEST.cc b/src/SdfGenerator_TEST.cc index b544b07fb6..d5ab4a5c99 100644 --- a/src/SdfGenerator_TEST.cc +++ b/src/SdfGenerator_TEST.cc @@ -897,7 +897,7 @@ TEST_F(ElementUpdateFixture, WorldWithModelsExpandedWithOneIncluded) ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(ElementUpdateFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(WorldWithModelsUsingRelativeResourceURIs)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(WorldWithModelsUsingRelativeResourceURIs)) { const auto includeUri = std::string("file://") + PROJECT_SOURCE_PATH + "/test/worlds/models/relative_resource_uri"; @@ -1018,7 +1018,7 @@ TEST_F(GenerateWorldFixture, PoseWithAttributes) auto model = newWorld->ModelByIndex(0); ASSERT_NE(nullptr, model); // Check that the generated element has the new pose - EXPECT_EQ(math::Pose3d(1, 2, 3, IGN_PI_2, 0, 0), model->RawPose()); + EXPECT_EQ(math::Pose3d(1, 2, 3, GZ_PI_2, 0, 0), model->RawPose()); } { auto model = newWorld->ModelByIndex(1); diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index fd19a73e46..418ff08fb6 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -198,9 +198,9 @@ class gz::sim::ServerConfigPrivate public: ServerConfigPrivate() { std::string home; - common::env(IGN_HOMEDIR, home); + common::env(GZ_HOMEDIR, home); - this->timestamp = IGN_SYSTEM_TIME(); + this->timestamp = GZ_SYSTEM_TIME(); // Set a default log record path this->logRecordPath = common::joinPaths(home, @@ -931,7 +931,7 @@ gz::sim::loadPluginInfo(bool _isPlayback) } std::string defaultConfigDir; - gz::common::env(IGN_HOMEDIR, defaultConfigDir); + gz::common::env(GZ_HOMEDIR, defaultConfigDir); defaultConfigDir = gz::common::joinPaths(defaultConfigDir, ".gz", "sim", GZ_SIM_MAJOR_VERSION_STR); diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index f6374a3f1c..10ce2fcf81 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -52,7 +52,7 @@ class ServerFixture : public InternalFixture<::testing::TestWithParam> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultServerConfig)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(DefaultServerConfig)) { gz::sim::ServerConfig serverConfig; EXPECT_TRUE(serverConfig.SdfFile().empty()); @@ -160,7 +160,7 @@ TEST_P(ServerFixture, ServerConfigPluginInfo) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin)) { // Start server ServerConfig serverConfig; @@ -212,7 +212,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin)) ///////////////////////////////////////////////// TEST_P(ServerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigSensorPlugin)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigSensorPlugin)) { // Start server ServerConfig serverConfig; @@ -263,7 +263,7 @@ TEST_P(ServerFixture, } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig)) { gz::sim::ServerConfig serverConfig; @@ -296,7 +296,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig)) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig)) { gz::sim::ServerConfig serverConfig; @@ -339,7 +339,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfRootServerConfig)) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord)) { auto logPath = common::joinPaths( std::string(PROJECT_BINARY_PATH), "test_log_path"); @@ -379,7 +379,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecord)) ///////////////////////////////////////////////// TEST_P(ServerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecordCompress)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigLogRecordCompress)) { auto logPath = common::joinPaths( std::string(PROJECT_BINARY_PATH), "test_log_path"); @@ -487,7 +487,7 @@ TEST_P(ServerFixture, RunNonBlockingPaused) // Add a small sleep because the non-blocking Run call causes the // simulation runner to start asynchronously. - IGN_SLEEP_MS(500); + GZ_SLEEP_MS(500); EXPECT_TRUE(*server.Running(0)); EXPECT_EQ(0u, server.IterationCount()); @@ -502,7 +502,7 @@ TEST_P(ServerFixture, RunNonBlockingPaused) EXPECT_TRUE(server.Running()); while (*server.IterationCount() < 100) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_EQ(100u, *server.IterationCount()); EXPECT_FALSE(server.Running()); @@ -522,7 +522,7 @@ TEST_P(ServerFixture, RunNonBlocking) server.Run(false, 100, false); while (*server.IterationCount() < 100) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_EQ(100u, *server.IterationCount()); EXPECT_FALSE(server.Running()); @@ -530,7 +530,7 @@ TEST_P(ServerFixture, RunNonBlocking) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RunOnceUnpaused)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RunOnceUnpaused)) { sim::Server server; EXPECT_FALSE(server.Running()); @@ -577,7 +577,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RunOnceUnpaused)) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RunOncePaused)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RunOncePaused)) { sim::Server server; EXPECT_FALSE(server.Running()); @@ -638,7 +638,7 @@ TEST_P(ServerFixture, RunNonBlockingMultiple) EXPECT_FALSE(server.Run(false, 100, false)); while (*server.IterationCount() < 100) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_EQ(100u, *server.IterationCount()); EXPECT_FALSE(server.Running()); @@ -655,7 +655,7 @@ TEST_P(ServerFixture, SigInt) // Run forever, non-blocking. server.Run(false, 0, false); - IGN_SLEEP_MS(500); + GZ_SLEEP_MS(500); EXPECT_TRUE(server.Running()); EXPECT_TRUE(*server.Running(0)); @@ -679,7 +679,7 @@ TEST_P(ServerFixture, ServerControlStop) // Run forever, non-blocking. server.Run(false, 0, false); - IGN_SLEEP_MS(500); + GZ_SLEEP_MS(500); EXPECT_TRUE(server.Running()); EXPECT_TRUE(*server.Running(0)); @@ -703,7 +703,7 @@ TEST_P(ServerFixture, ServerControlStop) EXPECT_TRUE(result); EXPECT_FALSE(res.data()); - IGN_SLEEP_MS(500); + GZ_SLEEP_MS(500); EXPECT_TRUE(server.Running()); EXPECT_TRUE(*server.Running(0)); @@ -718,14 +718,14 @@ TEST_P(ServerFixture, ServerControlStop) EXPECT_TRUE(result); EXPECT_TRUE(res.data()); - IGN_SLEEP_MS(500); + GZ_SLEEP_MS(500); EXPECT_FALSE(server.Running()); EXPECT_FALSE(*server.Running(0)); } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning)) { gz::sim::ServerConfig serverConfig; @@ -740,7 +740,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning)) // Run the server to test whether we can add systems while system is running server.Run(false, 0, false); - IGN_SLEEP_MS(500); + GZ_SLEEP_MS(500); EXPECT_TRUE(server.Running()); EXPECT_TRUE(*server.Running(0)); @@ -773,7 +773,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning)) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad)) { gz::sim::ServerConfig serverConfig; @@ -847,7 +847,7 @@ TEST_P(ServerFixture, Seed) } ///////////////////////////////////////////////// -TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) +TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) { gz::common::setenv("GZ_SIM_RESOURCE_PATH", (std::string(PROJECT_SOURCE_PATH) + "/test/worlds:" + @@ -1006,7 +1006,7 @@ TEST_P(ServerFixture, AddResourcePaths) int maxSleep{30}; while (!receivedMsg && sleep < maxSleep) { - IGN_SLEEP_MS(50); + GZ_SLEEP_MS(50); sleep++; } EXPECT_TRUE(receivedMsg); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 70410facde..8bdf29b7f4 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -251,7 +251,7 @@ SimulationRunner::~SimulationRunner() ///////////////////////////////////////////////// void SimulationRunner::UpdateCurrentInfo() { - IGN_PROFILE("SimulationRunner::UpdateCurrentInfo"); + GZ_PROFILE("SimulationRunner::UpdateCurrentInfo"); // Rewind if (this->requestedRewind) @@ -404,7 +404,7 @@ void SimulationRunner::UpdatePhysicsParams() ///////////////////////////////////////////////// void SimulationRunner::PublishStats() { - IGN_PROFILE("SimulationRunner::PublishStats"); + GZ_PROFILE("SimulationRunner::PublishStats"); // Create the world statistics message. gz::msgs::WorldStatistics msg; @@ -445,9 +445,9 @@ void SimulationRunner::PublishStats() clockMsg.mutable_real()->set_nsec(realTimeSecNsec.second); clockMsg.mutable_sim()->set_sec(simTimeSecNsec.first); clockMsg.mutable_sim()->set_nsec(simTimeSecNsec.second); - clockMsg.mutable_system()->set_sec(IGN_SYSTEM_TIME_S()); + clockMsg.mutable_system()->set_sec(GZ_SYSTEM_TIME_S()); clockMsg.mutable_system()->set_nsec( - IGN_SYSTEM_TIME_NS() - IGN_SYSTEM_TIME_S() * IGN_SEC_TO_NANO); + GZ_SYSTEM_TIME_NS() - GZ_SYSTEM_TIME_S() * GZ_SEC_TO_NANO); this->clockPub.Publish(clockMsg); // Only publish to root topic if no others are. @@ -508,7 +508,7 @@ void SimulationRunner::ProcessSystemQueue() { std::stringstream ss; ss << "PostUpdateThread: " << id; - IGN_PROFILE_THREAD_NAME(ss.str().c_str()); + GZ_PROFILE_THREAD_NAME(ss.str().c_str()); while (this->postUpdateThreadsRunning) { this->postUpdateStartBarrier->Wait(); @@ -528,7 +528,7 @@ void SimulationRunner::ProcessSystemQueue() ///////////////////////////////////////////////// void SimulationRunner::UpdateSystems() { - IGN_PROFILE("SimulationRunner::UpdateSystems"); + GZ_PROFILE("SimulationRunner::UpdateSystems"); // \todo(nkoenig) Systems used to be updated in parallel using // an gz::common::WorkerPool. There is overhead associated with // this, most notably the creation and destruction of WorkOrders (see @@ -537,26 +537,26 @@ void SimulationRunner::UpdateSystems() if (this->resetInitiated) { - IGN_PROFILE("Reset"); + GZ_PROFILE("Reset"); for (auto &system : this->systemMgr->SystemsReset()) system->Reset(this->currentInfo, this->entityCompMgr); return; } { - IGN_PROFILE("PreUpdate"); + GZ_PROFILE("PreUpdate"); for (auto& system : this->systemMgr->SystemsPreUpdate()) system->PreUpdate(this->currentInfo, this->entityCompMgr); } { - IGN_PROFILE("Update"); + GZ_PROFILE("Update"); for (auto& system : this->systemMgr->SystemsUpdate()) system->Update(this->currentInfo, this->entityCompMgr); } { - IGN_PROFILE("PostUpdate"); + GZ_PROFILE("PostUpdate"); this->entityCompMgr.LockAddingEntitiesToViews(true); // If no systems implementing PostUpdate have been added, then // the barriers will be uninitialized, so guard against that condition. @@ -609,7 +609,7 @@ bool SimulationRunner::Run(const uint64_t _iterations) // // \todo(nkoenig) We should implement the two-phase update detailed // in the design. - IGN_PROFILE_THREAD_NAME("SimulationRunner"); + GZ_PROFILE_THREAD_NAME("SimulationRunner"); // Initialize network communications. if (this->networkMgr) @@ -726,7 +726,7 @@ bool SimulationRunner::Run(const uint64_t _iterations) while (this->running && (_iterations == 0 || processedIterations < _iterations)) { - IGN_PROFILE("SimulationRunner::Run - Iteration"); + GZ_PROFILE("SimulationRunner::Run - Iteration"); // Update the step size and desired rtf this->UpdatePhysicsParams(); @@ -743,7 +743,7 @@ bool SimulationRunner::Run(const uint64_t _iterations) // Only sleep if needed. if (sleepTime > 0ns) { - IGN_PROFILE("Sleep"); + GZ_PROFILE("Sleep"); // Get the current time, sleep for the duration needed to match the // updatePeriod, and then record the actual time slept. startTime = std::chrono::steady_clock::now(); @@ -801,7 +801,7 @@ bool SimulationRunner::Run(const uint64_t _iterations) ///////////////////////////////////////////////// void SimulationRunner::Step(const UpdateInfo &_info) { - IGN_PROFILE("SimulationRunner::Step"); + GZ_PROFILE("SimulationRunner::Step"); this->currentInfo = _info; // Process new ECM state information, typically sent from the GUI after @@ -1213,7 +1213,7 @@ bool SimulationRunner::OnPlaybackControl(const msgs::LogPlaybackControl &_req, ///////////////////////////////////////////////// void SimulationRunner::ProcessMessages() { - IGN_PROFILE("SimulationRunner::ProcessMessages"); + GZ_PROFILE("SimulationRunner::ProcessMessages"); std::lock_guard lock(this->msgBufferMutex); this->ProcessWorldControl(); } @@ -1221,7 +1221,7 @@ void SimulationRunner::ProcessMessages() ///////////////////////////////////////////////// void SimulationRunner::ProcessWorldControl() { - IGN_PROFILE("SimulationRunner::ProcessWorldControl"); + GZ_PROFILE("SimulationRunner::ProcessWorldControl"); // assume no stepping unless WorldControl msgs say otherwise this->SetStepping(false); @@ -1258,7 +1258,7 @@ void SimulationRunner::ProcessWorldControl() ///////////////////////////////////////////////// void SimulationRunner::ProcessRecreateEntitiesRemove() { - IGN_PROFILE("SimulationRunner::ProcessRecreateEntitiesRemove"); + GZ_PROFILE("SimulationRunner::ProcessRecreateEntitiesRemove"); // store the original entities to recreate and put in request to remove them this->entityCompMgr.EachNoCacheentitiesToRecreate) diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index a2a9597151..bc8106de3d 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -73,11 +73,11 @@ inline namespace GZ_SIM_VERSION_NAMESPACE { namespace components { using IntComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", IntComponent) using DoubleComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", DoubleComponent) } } @@ -1185,7 +1185,7 @@ TEST_P(SimulationRunnerTest, Time) ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) +TEST_P(SimulationRunnerTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) { // Load SDF file sdf::Root root; @@ -1294,7 +1294,7 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadServerNoPlugins) ) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LoadServerNoPlugins) ) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, @@ -1317,7 +1317,7 @@ TEST_P(SimulationRunnerTest, ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadServerConfigPlugins) ) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LoadServerConfigPlugins) ) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, @@ -1418,7 +1418,7 @@ TEST_P(SimulationRunnerTest, ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPluginsDefault) ) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LoadPluginsDefault) ) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, @@ -1440,7 +1440,7 @@ TEST_P(SimulationRunnerTest, ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPluginsEvent) ) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LoadPluginsEvent) ) { // Load SDF file without plugins sdf::Root rootWithout; @@ -1534,7 +1534,7 @@ TEST_P(SimulationRunnerTest, ///////////////////////////////////////////////// TEST_P(SimulationRunnerTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadOnlyModelPlugin) ) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LoadOnlyModelPlugin) ) { sdf::Root rootWithout; rootWithout.Load(common::joinPaths(PROJECT_SOURCE_PATH, diff --git a/src/SystemLoader.cc b/src/SystemLoader.cc index 48dbd0220e..c0d7504f5f 100644 --- a/src/SystemLoader.cc +++ b/src/SystemLoader.cc @@ -53,7 +53,7 @@ class gz::sim::SystemLoaderPrivate systemPaths.AddPluginPaths(path); std::string homePath; - gz::common::env(IGN_HOMEDIR, homePath); + gz::common::env(GZ_HOMEDIR, homePath); systemPaths.AddPluginPaths(homePath + "/.gz/sim/plugins"); // TODO(CH3): Deprecated. Remove on tock. diff --git a/src/Util.cc b/src/Util.cc index 889dc87340..5836c47578 100644 --- a/src/Util.cc +++ b/src/Util.cc @@ -586,7 +586,7 @@ std::optional sphericalCoordinates(Entity _entity, math::SphericalCoordinates::SPHERICAL); // Return degrees - return math::Vector3d(IGN_RTOD(rad.X()), IGN_RTOD(rad.Y()), rad.Z()); + return math::Vector3d(GZ_RTOD(rad.X()), GZ_RTOD(rad.Y()), rad.Z()); } ////////////////////////////////////////////////// diff --git a/src/View.cc b/src/View.cc index d325c25fdd..d314aa24db 100644 --- a/src/View.cc +++ b/src/View.cc @@ -180,6 +180,6 @@ void View::Reset() } } // namespace detail -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in index 2adbfb1b08..5a7e64dda0 100755 --- a/src/cmd/cmdgazebo.rb.in +++ b/src/cmd/cmdgazebo.rb.in @@ -353,11 +353,11 @@ has properly set the DYLD_LIBRARY_PATH environment variables." end # Read the library version. - Importer.extern 'char *ignitionGazeboVersion()' + Importer.extern 'char *gzSimVersion()' begin - plugin_version = Importer.ignitionGazeboVersion.to_s + plugin_version = Importer.gzSimVersion.to_s rescue DLError - puts "Library error: Problem running 'ignitionGazeboVersion()' from #{plugin}." + puts "Library error: Problem running 'gzSimVersion()' from #{plugin}." exit(-1) end @@ -377,8 +377,8 @@ has properly set the DYLD_LIBRARY_PATH environment variables." Importer.extern 'const char *findFuelResource(const char *)' if options.key?('version') - Importer.extern 'char *gazeboVersionHeader()' - puts Importer.gazeboVersionHeader.to_s + Importer.extern 'char *simVersionHeader()' + puts Importer.simVersionHeader.to_s exit end diff --git a/src/comms/ICommsModel.cc b/src/comms/ICommsModel.cc index 587d533d42..492fa71b66 100644 --- a/src/comms/ICommsModel.cc +++ b/src/comms/ICommsModel.cc @@ -73,7 +73,7 @@ void ICommsModel::Configure(const Entity &_entity, void ICommsModel::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("ICommsModel::PreUpdate"); + GZ_PROFILE("ICommsModel::PreUpdate"); if (_info.paused) return; diff --git a/src/gui/Gui.cc b/src/gui/Gui.cc index 499839137d..c00d0a0ead 100644 --- a/src/gui/Gui.cc +++ b/src/gui/Gui.cc @@ -92,7 +92,7 @@ std::unique_ptr createGui( { defaultGuiConfigName = "playback_gui.config"; } - gz::common::env(IGN_HOMEDIR, defaultConfig); + gz::common::env(GZ_HOMEDIR, defaultConfig); defaultConfigFolder = gz::common::joinPaths(defaultConfig, ".gz", "sim", GZ_SIM_MAJOR_VERSION_STR); @@ -335,6 +335,6 @@ int runGui(int &_argc, char **_argv, const char *_guiConfig, return -1; } } // namespace gui -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/gui/GuiFileHandler.cc b/src/gui/GuiFileHandler.cc index 4ef7b55419..fc7094bc43 100644 --- a/src/gui/GuiFileHandler.cc +++ b/src/gui/GuiFileHandler.cc @@ -33,7 +33,7 @@ using namespace sim::gui; void GuiFileHandler::SaveWorldAs(const QString &_fileUrl, QObject *_config) { - IGN_PROFILE("GuiFileHandler::SaveWorldAs"); + GZ_PROFILE("GuiFileHandler::SaveWorldAs"); QUrl url(_fileUrl); bool status = false; diff --git a/src/gui/GuiRunner.cc b/src/gui/GuiRunner.cc index a1b8e683e4..ece6975196 100644 --- a/src/gui/GuiRunner.cc +++ b/src/gui/GuiRunner.cc @@ -279,8 +279,8 @@ void GuiRunner::OnStateAsyncService(const msgs::SerializedStepMap &_res) ///////////////////////////////////////////////// void GuiRunner::OnState(const msgs::SerializedStepMap &_msg) { - IGN_PROFILE_THREAD_NAME("GuiRunner::OnState"); - IGN_PROFILE("GuiRunner::Update"); + GZ_PROFILE_THREAD_NAME("GuiRunner::OnState"); + GZ_PROFILE("GuiRunner::Update"); // Only process state updates after initial state has been received. if (!this->dataPtr->receivedInitialState) @@ -297,8 +297,8 @@ void GuiRunner::OnState(const msgs::SerializedStepMap &_msg) ///////////////////////////////////////////////// void GuiRunner::OnStateQt(const msgs::SerializedStepMap &_msg) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("GuiRunner::Update"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("GuiRunner::Update"); this->dataPtr->ecm.SetState(_msg.state()); // Update all plugins @@ -371,10 +371,10 @@ void GuiRunner::LoadSystems() ///////////////////////////////////////////////// void GuiRunner::UpdateSystems() { - IGN_PROFILE("GuiRunner::UpdateSystems"); + GZ_PROFILE("GuiRunner::UpdateSystems"); { - IGN_PROFILE("PreUpdate"); + GZ_PROFILE("PreUpdate"); for (auto& system : this->dataPtr->systemsPreupdate) { if (system) @@ -383,7 +383,7 @@ void GuiRunner::UpdateSystems() } { - IGN_PROFILE("Update"); + GZ_PROFILE("Update"); for (auto& system : this->dataPtr->systemsUpdate) { if (system) @@ -392,7 +392,7 @@ void GuiRunner::UpdateSystems() } { - IGN_PROFILE("PostUpdate"); + GZ_PROFILE("PostUpdate"); // \todo(anyone) Do PostUpdates in parallel for (auto& system : this->dataPtr->systemsPostupdate) { diff --git a/src/gui/GuiRunner.hh b/src/gui/GuiRunner.hh index 669f2c2cf1..0d90b545de 100644 --- a/src/gui/GuiRunner.hh +++ b/src/gui/GuiRunner.hh @@ -85,7 +85,7 @@ class GZ_GAZEBO_GUI_VISIBLE GuiRunner : public QObject private: void UpdateSystems(); /// \brief Pointer to private data. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/src/gui/Gui_TEST.cc b/src/gui/Gui_TEST.cc index 0897f5a036..c022a19bba 100644 --- a/src/gui/Gui_TEST.cc +++ b/src/gui/Gui_TEST.cc @@ -43,7 +43,7 @@ class GuiTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // https://github.com/gazebosim/gz-sim/issues/8 // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(GuiTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PathManager)) +TEST_F(GuiTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PathManager)) { common::Console::SetVerbosity(4); gzdbg << "Start test" << std::endl; @@ -141,7 +141,7 @@ TEST_F(GuiTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PathManager)) int maxSleep{30}; while (!topicCalled && sleep < maxSleep) { - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); sleep++; } EXPECT_TRUE(topicCalled); diff --git a/src/gui/gui.config b/src/gui/gui.config index b6296bd207..d226e8937b 100644 --- a/src/gui/gui.config +++ b/src/gui/gui.config @@ -28,11 +28,11 @@ - + 3D View false docked - + ogre2 scene @@ -43,82 +43,82 @@ - + floating 5 5 false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + false 5 5 floating false - + - + World control false false @@ -131,7 +131,7 @@ - + true true @@ -142,7 +142,7 @@ - + World stats false false @@ -155,7 +155,7 @@ - + true true @@ -165,7 +165,7 @@ - + false 0 0 @@ -174,12 +174,12 @@ floating false #666666 - + - + false 250 0 @@ -188,12 +188,12 @@ floating false #666666 - + - + false 0 50 @@ -202,7 +202,7 @@ floating false #777777 - + false @@ -210,7 +210,7 @@ - + false 250 50 @@ -219,12 +219,12 @@ floating false #777777 - + - + false 300 50 @@ -233,21 +233,21 @@ floating false #777777 - + - + false docked - + - + false docked - + diff --git a/src/gui/playback_gui.config b/src/gui/playback_gui.config index 4e6d386447..decf2d4988 100644 --- a/src/gui/playback_gui.config +++ b/src/gui/playback_gui.config @@ -27,11 +27,11 @@ - + 3D View false docked - + ogre2 scene @@ -42,7 +42,7 @@ - + World control false false @@ -55,7 +55,7 @@ - + true true @@ -66,7 +66,7 @@ - + false 90 350 @@ -78,21 +78,21 @@ - + - + false docked - + - + false docked - + diff --git a/src/gui/plugins/align_tool/AlignTool.cc b/src/gui/plugins/align_tool/AlignTool.cc index 1943cc5b24..d509e74af3 100644 --- a/src/gui/plugins/align_tool/AlignTool.cc +++ b/src/gui/plugins/align_tool/AlignTool.cc @@ -596,5 +596,5 @@ bool AlignTool::eventFilter(QObject *_obj, QEvent *_event) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::AlignTool, +GZ_ADD_PLUGIN(gz::sim::AlignTool, gz::gui::Plugin) diff --git a/src/gui/plugins/banana_for_scale/BananaForScale.cc b/src/gui/plugins/banana_for_scale/BananaForScale.cc index 13b9be730e..6bfe427b8d 100644 --- a/src/gui/plugins/banana_for_scale/BananaForScale.cc +++ b/src/gui/plugins/banana_for_scale/BananaForScale.cc @@ -108,5 +108,5 @@ void BananaForScale::OnMode(const QString &_mode) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::BananaForScale, +GZ_ADD_PLUGIN(gz::sim::BananaForScale, gz::gui::Plugin) diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index ffea5221dd..797fef4228 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -365,8 +365,8 @@ ComponentsModel::ComponentsModel() : QStandardItemModel() QStandardItem *ComponentsModel::AddComponentType( gz::sim::ComponentTypeId _typeId) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("ComponentsModel::AddComponentType"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("ComponentsModel::AddComponentType"); auto typeName = QString::fromStdString( components::Factory::Instance()->Name(_typeId)); @@ -396,8 +396,8 @@ QStandardItem *ComponentsModel::AddComponentType( void ComponentsModel::RemoveComponentType( gz::sim::ComponentTypeId _typeId) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("ComponentsModel::RemoveComponentType"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("ComponentsModel::RemoveComponentType"); auto itemIt = this->items.find(_typeId); @@ -461,7 +461,7 @@ void ComponentInspector::LoadConfig(const tinyxml2::XMLElement *) void ComponentInspector::Update(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("ComponentInspector::Update"); + GZ_PROFILE("ComponentInspector::Update"); if (this->dataPtr->paused) return; @@ -1227,5 +1227,5 @@ transport::Node &ComponentInspector::TransportNode() } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::ComponentInspector, +GZ_ADD_PLUGIN(gz::sim::ComponentInspector, gz::gui::Plugin) diff --git a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc index 98546135cf..b043da9018 100644 --- a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc +++ b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.cc @@ -403,8 +403,8 @@ ComponentsModel::ComponentsModel() : QStandardItemModel() QStandardItem *ComponentsModel::AddComponentType( gz::sim::ComponentTypeId _typeId) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("ComponentsModel::AddComponentType"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("ComponentsModel::AddComponentType"); auto typeName = QString::fromStdString( components::Factory::Instance()->Name(_typeId)); @@ -434,8 +434,8 @@ QStandardItem *ComponentsModel::AddComponentType( void ComponentsModel::RemoveComponentType( gz::sim::ComponentTypeId _typeId) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("ComponentsModel::RemoveComponentType"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("ComponentsModel::RemoveComponentType"); auto itemIt = this->items.find(_typeId); @@ -517,7 +517,7 @@ void ComponentInspectorEditor::LoadConfig(const tinyxml2::XMLElement *) void ComponentInspectorEditor::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("ComponentInspectorEditor::Update"); + GZ_PROFILE("ComponentInspectorEditor::Update"); this->SetSimPaused(_info.paused); @@ -1401,5 +1401,5 @@ void ComponentInspectorEditor::OnLoadMesh(const QString &_entity, } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::ComponentInspectorEditor, +GZ_ADD_PLUGIN(gz::sim::ComponentInspectorEditor, gz::gui::Plugin) diff --git a/src/gui/plugins/component_inspector_editor/ModelEditor.cc b/src/gui/plugins/component_inspector_editor/ModelEditor.cc index 71c1449a0e..f018dfa737 100644 --- a/src/gui/plugins/component_inspector_editor/ModelEditor.cc +++ b/src/gui/plugins/component_inspector_editor/ModelEditor.cc @@ -153,7 +153,7 @@ void ModelEditor::Load() void ModelEditor::Update(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("ModelEditor::Update"); + GZ_PROFILE("ModelEditor::Update"); if (!this->dataPtr->entityCreator) { diff --git a/src/gui/plugins/copy_paste/CopyPaste.cc b/src/gui/plugins/copy_paste/CopyPaste.cc index f26f7a8d74..deb424d70b 100644 --- a/src/gui/plugins/copy_paste/CopyPaste.cc +++ b/src/gui/plugins/copy_paste/CopyPaste.cc @@ -181,5 +181,5 @@ bool CopyPaste::PasteServiceCB(const gz::msgs::Empty &/*_req*/, } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::CopyPaste, +GZ_ADD_PLUGIN(gz::sim::CopyPaste, gz::gui::Plugin) diff --git a/src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.cc b/src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.cc index dffa4c4020..a8f958361a 100644 --- a/src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.cc +++ b/src/gui/plugins/entity_context_menu/EntityContextMenuPlugin.cc @@ -204,5 +204,5 @@ void EntityContextMenuHandler::HandleMouseContextMenu( } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::EntityContextMenu, +GZ_ADD_PLUGIN(gz::sim::EntityContextMenu, gz::gui::Plugin) diff --git a/src/gui/plugins/entity_tree/EntityTree.cc b/src/gui/plugins/entity_tree/EntityTree.cc index 072920d3b5..6fb372dac2 100644 --- a/src/gui/plugins/entity_tree/EntityTree.cc +++ b/src/gui/plugins/entity_tree/EntityTree.cc @@ -125,8 +125,8 @@ TreeModel::TreeModel() : QStandardItemModel() void TreeModel::AddEntity(Entity _entity, const QString &_entityName, Entity _parentEntity, const QString &_type) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("TreeModel::AddEntity"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("TreeModel::AddEntity"); QStandardItem *parentItem{nullptr}; // check if entity has already been added or not. @@ -185,7 +185,7 @@ void TreeModel::AddEntity(Entity _entity, const QString &_entityName, ///////////////////////////////////////////////// void TreeModel::RemoveEntity(Entity _entity) { - IGN_PROFILE("TreeModel::RemoveEntity"); + GZ_PROFILE("TreeModel::RemoveEntity"); QStandardItem *item{nullptr}; auto itemIt = this->entityItems.find(_entity); if (itemIt != this->entityItems.end()) @@ -312,7 +312,7 @@ void EntityTree::LoadConfig(const tinyxml2::XMLElement *) ////////////////////////////////////////////////// void EntityTree::Update(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("EntityTree::Update"); + GZ_PROFILE("EntityTree::Update"); // Treat all pre-existent entities as new at startup if (!this->dataPtr->initialized) { @@ -577,5 +577,5 @@ bool EntityTree::eventFilter(QObject *_obj, QEvent *_event) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::EntityTree, +GZ_ADD_PLUGIN(gz::sim::EntityTree, gz::gui::Plugin) diff --git a/src/gui/plugins/joint_position_controller/JointPositionController.cc b/src/gui/plugins/joint_position_controller/JointPositionController.cc index 32829dea98..136d7eba06 100644 --- a/src/gui/plugins/joint_position_controller/JointPositionController.cc +++ b/src/gui/plugins/joint_position_controller/JointPositionController.cc @@ -74,8 +74,8 @@ JointsModel::JointsModel() : QStandardItemModel() ///////////////////////////////////////////////// QStandardItem *JointsModel::AddJoint(Entity _entity) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("JointsModel::AddJoint"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("JointsModel::AddJoint"); auto itemIt = this->items.find(_entity); @@ -96,8 +96,8 @@ QStandardItem *JointsModel::AddJoint(Entity _entity) ///////////////////////////////////////////////// void JointsModel::RemoveJoint(Entity _entity) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("JointsModel::RemoveJoint"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("JointsModel::RemoveJoint"); auto itemIt = this->items.find(_entity); @@ -112,8 +112,8 @@ void JointsModel::RemoveJoint(Entity _entity) ///////////////////////////////////////////////// void JointsModel::Clear() { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("JointsModel::Clear"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("JointsModel::Clear"); this->invisibleRootItem()->removeRows(0, this->rowCount()); this->items.clear(); @@ -175,7 +175,7 @@ void JointPositionController::LoadConfig( void JointPositionController::Update(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("JointPositionController::Update"); + GZ_PROFILE("JointPositionController::Update"); if (!this->dataPtr->xmlModelInitialized) { @@ -259,8 +259,8 @@ void JointPositionController::Update(const UpdateInfo &, JointsModel::RoleNames().key("name")); // Limits - double min = -IGN_PI; - double max = IGN_PI; + double min = -GZ_PI; + double max = GZ_PI; auto axisComp = _ecm.Component(jointEntity); if (axisComp) { @@ -423,5 +423,5 @@ void JointPositionController::OnReset() } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::gui::JointPositionController, +GZ_ADD_PLUGIN(gz::sim::gui::JointPositionController, gz::gui::Plugin) diff --git a/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc b/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc index ff3111a03e..370a8e2daa 100644 --- a/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc +++ b/src/gui/plugins/joint_position_controller/JointPositionController_TEST.cc @@ -55,7 +55,7 @@ class JointPositionControllerGui : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(JointPositionControllerGui, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load)) +TEST_F(JointPositionControllerGui, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load)) { // Create app auto app = std::make_unique(g_argc, g_argv); @@ -102,7 +102,7 @@ TEST_F(JointPositionControllerGui, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load)) ///////////////////////////////////////////////// TEST_F(JointPositionControllerGui, - IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCommand)) + GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCommand)) { // Create a model with a joint sim::EntityComponentManager ecm; diff --git a/src/gui/plugins/lights/Lights.cc b/src/gui/plugins/lights/Lights.cc index 3fc0c2e55f..266dbb1179 100644 --- a/src/gui/plugins/lights/Lights.cc +++ b/src/gui/plugins/lights/Lights.cc @@ -78,5 +78,5 @@ void Lights::OnNewLightClicked(const QString &_sdfString) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::Lights, +GZ_ADD_PLUGIN(gz::sim::Lights, gz::gui::Plugin) diff --git a/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc b/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc index 0b0313863f..b2a2086d86 100644 --- a/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc +++ b/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc @@ -251,5 +251,5 @@ void PlaybackScrubber::OnDrop(double _value) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::PlaybackScrubber, +GZ_ADD_PLUGIN(gz::sim::PlaybackScrubber, gz::gui::Plugin) diff --git a/src/gui/plugins/plot_3d/Plot3D.cc b/src/gui/plugins/plot_3d/Plot3D.cc index 7dfd30785c..c8e921b1cc 100644 --- a/src/gui/plugins/plot_3d/Plot3D.cc +++ b/src/gui/plugins/plot_3d/Plot3D.cc @@ -401,5 +401,5 @@ void Plot3D::SetMaxPoints(int _maxPoints) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::gui::Plot3D, +GZ_ADD_PLUGIN(gz::sim::gui::Plot3D, gz::gui::Plugin) diff --git a/src/gui/plugins/plot_3d/Plot3D_TEST.cc b/src/gui/plugins/plot_3d/Plot3D_TEST.cc index 51ed796bf7..70ae2543aa 100644 --- a/src/gui/plugins/plot_3d/Plot3D_TEST.cc +++ b/src/gui/plugins/plot_3d/Plot3D_TEST.cc @@ -60,7 +60,7 @@ class Plot3D : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(Plot3D, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load)) +TEST_F(Plot3D, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load)) { // Create app auto app = std::make_unique(g_argc, g_argv); @@ -68,9 +68,9 @@ TEST_F(Plot3D, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Load)) app->AddPluginPath(std::string(PROJECT_BINARY_PATH) + "/lib"); // Create GUI runner to handle sim::gui plugins - IGN_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION + GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION auto runner = new sim::GuiRunner("test"); - IGN_UTILS_WARN_RESUME__DEPRECATED_DECLARATION + GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION runner->setParent(gui::App()); // Add plugin diff --git a/src/gui/plugins/plotting/Plotting.cc b/src/gui/plugins/plotting/Plotting.cc index 614711de61..8efe6f593b 100644 --- a/src/gui/plugins/plotting/Plotting.cc +++ b/src/gui/plugins/plotting/Plotting.cc @@ -553,6 +553,6 @@ void Plotting::Update(const gz::sim::UpdateInfo &_info, } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::Plotting, +GZ_ADD_PLUGIN(gz::sim::Plotting, gz::sim::GuiSystem, gz::gui::Plugin) diff --git a/src/gui/plugins/resource_spawner/ResourceSpawner.cc b/src/gui/plugins/resource_spawner/ResourceSpawner.cc index 6b8410d06e..7f0b52fd53 100644 --- a/src/gui/plugins/resource_spawner/ResourceSpawner.cc +++ b/src/gui/plugins/resource_spawner/ResourceSpawner.cc @@ -85,8 +85,8 @@ PathModel::PathModel() : QStandardItemModel() ///////////////////////////////////////////////// void PathModel::AddPath(const std::string &_path) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("PathModel::AddPath"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("PathModel::AddPath"); QStandardItem *parentItem{nullptr}; parentItem = this->invisibleRootItem(); @@ -135,8 +135,8 @@ void ResourceModel::AddResources(std::vector &_resources) ///////////////////////////////////////////////// void ResourceModel::AddResource(Resource &_resource) { - IGN_PROFILE_THREAD_NAME("Qt thread"); - IGN_PROFILE("GridModel::AddResource"); + GZ_PROFILE_THREAD_NAME("Qt thread"); + GZ_PROFILE("GridModel::AddResource"); QStandardItem *parentItem{nullptr}; parentItem = this->invisibleRootItem(); @@ -633,5 +633,5 @@ void ResourceSpawner::OnResourceSpawn(const QString &_sdfPath) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::ResourceSpawner, +GZ_ADD_PLUGIN(gz::sim::ResourceSpawner, gz::gui::Plugin) diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index cd2dbf6ace..c63d704098 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -667,8 +667,8 @@ void IgnRenderer::Render(RenderSync *_renderSync) this->dataPtr->renderThreadId = std::this_thread::get_id(); - IGN_PROFILE_THREAD_NAME("RenderThread"); - IGN_PROFILE("IgnRenderer::Render"); + GZ_PROFILE_THREAD_NAME("RenderThread"); + GZ_PROFILE("IgnRenderer::Render"); std::unique_lock lock(_renderSync->mutex); _renderSync->WaitForQtThreadAndBlock(lock); @@ -689,7 +689,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) static_cast(this->textureSize.height())); // setting the size should cause the render texture to be rebuilt { - IGN_PROFILE("IgnRenderer::Render Pre-render camera"); + GZ_PROFILE("IgnRenderer::Render Pre-render camera"); this->dataPtr->camera->Update(); } // mark mouse dirty to force update view projection in HandleMouseEvent @@ -747,13 +747,13 @@ void IgnRenderer::Render(RenderSync *_renderSync) // update and render to texture if (update) { - IGN_PROFILE("IgnRenderer::Render Update camera"); + GZ_PROFILE("IgnRenderer::Render Update camera"); this->dataPtr->camera->Update(); } // record video is requested { - IGN_PROFILE("IgnRenderer::Render Record Video"); + GZ_PROFILE("IgnRenderer::Render Record Video"); if (this->dataPtr->recordVideo) { unsigned int width = this->dataPtr->camera->ImageWidth(); @@ -832,7 +832,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // Move To { - IGN_PROFILE("IgnRenderer::Render MoveTo"); + GZ_PROFILE("IgnRenderer::Render MoveTo"); if (!this->dataPtr->moveToTarget.empty()) { if (this->dataPtr->moveToHelper.Idle()) @@ -864,7 +864,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // Move to pose { - IGN_PROFILE("IgnRenderer::Render MoveToPose"); + GZ_PROFILE("IgnRenderer::Render MoveToPose"); if (this->dataPtr->moveToPoseValue) { if (this->dataPtr->moveToHelper.Idle()) @@ -886,7 +886,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // Follow { - IGN_PROFILE("IgnRenderer::Render Follow"); + GZ_PROFILE("IgnRenderer::Render Follow"); if (!this->dataPtr->moveToTarget.empty()) { _renderSync->ReleaseQtThreadFromBlock(lock); @@ -940,7 +940,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View Angle { - IGN_PROFILE("IgnRenderer::Render ViewAngle"); + GZ_PROFILE("IgnRenderer::Render ViewAngle"); if (this->dataPtr->viewAngle) { if (this->dataPtr->moveToHelper.Idle()) @@ -983,7 +983,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // Shapes { - IGN_PROFILE("IgnRenderer::Render Shapes"); + GZ_PROFILE("IgnRenderer::Render Shapes"); if (this->dataPtr->isSpawning) { // Generate spawn preview @@ -1019,7 +1019,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View as transparent { - IGN_PROFILE("IgnRenderer::Render ViewTransparent"); + GZ_PROFILE("IgnRenderer::Render ViewTransparent"); if (!this->dataPtr->viewTransparentTarget.empty()) { rendering::NodePtr targetNode = @@ -1045,7 +1045,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View center of mass { - IGN_PROFILE("IgnRenderer::Render ViewCOM"); + GZ_PROFILE("IgnRenderer::Render ViewCOM"); if (!this->dataPtr->viewCOMTarget.empty()) { rendering::NodePtr targetNode = @@ -1071,7 +1071,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View inertia { - IGN_PROFILE("IgnRenderer::Render ViewInertia"); + GZ_PROFILE("IgnRenderer::Render ViewInertia"); if (!this->dataPtr->viewInertiaTarget.empty()) { rendering::NodePtr targetNode = @@ -1097,7 +1097,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View joints { - IGN_PROFILE("IgnRenderer::Render ViewJoints"); + GZ_PROFILE("IgnRenderer::Render ViewJoints"); if (!this->dataPtr->viewJointsTarget.empty()) { rendering::NodePtr targetNode = @@ -1123,7 +1123,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View wireframes { - IGN_PROFILE("IgnRenderer::Render ViewWireframes"); + GZ_PROFILE("IgnRenderer::Render ViewWireframes"); if (!this->dataPtr->viewWireframesTarget.empty()) { rendering::NodePtr targetNode = @@ -1149,7 +1149,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) // View collisions { - IGN_PROFILE("IgnRenderer::Render ViewCollisions"); + GZ_PROFILE("IgnRenderer::Render ViewCollisions"); if (!this->dataPtr->viewCollisionsTarget.empty()) { rendering::NodePtr targetNode = @@ -1942,27 +1942,27 @@ void IgnRenderer::HandleMouseTransformControl() if (snapVals.X() <= 1e-4) { - snapVals.X() = IGN_PI/4; + snapVals.X() = GZ_PI/4; } else { - snapVals.X() = IGN_DTOR(snapVals.X()); + snapVals.X() = GZ_DTOR(snapVals.X()); } if (snapVals.Y() <= 1e-4) { - snapVals.Y() = IGN_PI/4; + snapVals.Y() = GZ_PI/4; } else { - snapVals.Y() = IGN_DTOR(snapVals.Y()); + snapVals.Y() = GZ_DTOR(snapVals.Y()); } if (snapVals.Z() <= 1e-4) { - snapVals.Z() = IGN_PI/4; + snapVals.Z() = GZ_PI/4; } else { - snapVals.Z() = IGN_DTOR(snapVals.Z()); + snapVals.Z() = GZ_DTOR(snapVals.Z()); } SnapPoint(currentRot, snapVals); @@ -3278,7 +3278,7 @@ void Scene3D::Update(const UpdateInfo &_info, if (nullptr == this->dataPtr->renderUtil) return; - IGN_PROFILE("Scene3D::Update"); + GZ_PROFILE("Scene3D::Update"); auto renderWindow = this->PluginItem()->findChild(); if (this->dataPtr->worldName.empty()) { @@ -4084,5 +4084,5 @@ void RenderWindowItem::HandleKeyRelease(QKeyEvent *_e) // // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::Scene3D, +GZ_ADD_PLUGIN(gz::sim::Scene3D, gz::gui::Plugin) diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc index 3ae1e74e81..cc593bb689 100644 --- a/src/gui/plugins/scene_manager/GzSceneManager.cc +++ b/src/gui/plugins/scene_manager/GzSceneManager.cc @@ -120,7 +120,7 @@ void GzSceneManager::Update(const UpdateInfo &_info, if (!this->dataPtr->initialized) return; - IGN_PROFILE("GzSceneManager::Update"); + GZ_PROFILE("GzSceneManager::Update"); this->dataPtr->renderUtil.UpdateECM(_info, _ecm); @@ -246,5 +246,5 @@ void GzSceneManagerPrivate::OnRender() } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::GzSceneManager, +GZ_ADD_PLUGIN(gz::sim::GzSceneManager, gz::gui::Plugin) diff --git a/src/gui/plugins/select_entities/SelectEntities.cc b/src/gui/plugins/select_entities/SelectEntities.cc index f8be006db9..e6e98bfbf2 100644 --- a/src/gui/plugins/select_entities/SelectEntities.cc +++ b/src/gui/plugins/select_entities/SelectEntities.cc @@ -612,5 +612,5 @@ bool SelectEntities::eventFilter(QObject *_obj, QEvent *_event) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::gui::SelectEntities, +GZ_ADD_PLUGIN(gz::sim::gui::SelectEntities, gz::gui::Plugin) diff --git a/src/gui/plugins/shapes/Shapes.cc b/src/gui/plugins/shapes/Shapes.cc index a7a7505646..e4c282363d 100644 --- a/src/gui/plugins/shapes/Shapes.cc +++ b/src/gui/plugins/shapes/Shapes.cc @@ -81,5 +81,5 @@ void Shapes::OnMode(const QString &_mode) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::Shapes, +GZ_ADD_PLUGIN(gz::sim::Shapes, gz::gui::Plugin) diff --git a/src/gui/plugins/spawn/Spawn.cc b/src/gui/plugins/spawn/Spawn.cc index e7e5359bff..a046ac67aa 100644 --- a/src/gui/plugins/spawn/Spawn.cc +++ b/src/gui/plugins/spawn/Spawn.cc @@ -294,7 +294,7 @@ void SpawnPrivate::OnRender() } // Spawn - IGN_PROFILE("IgnRenderer::Render Spawn"); + GZ_PROFILE("IgnRenderer::Render Spawn"); if (this->generatePreview) { bool cloningResource = false; @@ -646,5 +646,5 @@ void Spawn::SetErrorPopupText(const QString &_errorTxt) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::Spawn, +GZ_ADD_PLUGIN(gz::sim::Spawn, gz::gui::Plugin) diff --git a/src/gui/plugins/transform_control/TransformControl.cc b/src/gui/plugins/transform_control/TransformControl.cc index ffa38a4edf..16f58a13b4 100644 --- a/src/gui/plugins/transform_control/TransformControl.cc +++ b/src/gui/plugins/transform_control/TransformControl.cc @@ -860,27 +860,27 @@ void TransformControlPrivate::HandleTransform() if (snapVals.X() <= 1e-4) { - snapVals.X() = IGN_PI/4; + snapVals.X() = GZ_PI/4; } else { - snapVals.X() = IGN_DTOR(snapVals.X()); + snapVals.X() = GZ_DTOR(snapVals.X()); } if (snapVals.Y() <= 1e-4) { - snapVals.Y() = IGN_PI/4; + snapVals.Y() = GZ_PI/4; } else { - snapVals.Y() = IGN_DTOR(snapVals.Y()); + snapVals.Y() = GZ_DTOR(snapVals.Y()); } if (snapVals.Z() <= 1e-4) { - snapVals.Z() = IGN_PI/4; + snapVals.Z() = GZ_PI/4; } else { - snapVals.Z() = IGN_DTOR(snapVals.Z()); + snapVals.Z() = GZ_DTOR(snapVals.Z()); } this->SnapPoint(currentRot, snapVals); @@ -1015,5 +1015,5 @@ void TransformControlPrivate::SnapPoint( } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::TransformControl, +GZ_ADD_PLUGIN(gz::sim::TransformControl, gz::gui::Plugin) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index 07650da597..0ba4fe5ab8 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -178,7 +178,7 @@ void VideoRecorderPrivate::OnRender() // record video is requested { - IGN_PROFILE("VideoRecorder Record Video"); + GZ_PROFILE("VideoRecorder Record Video"); if (this->recordVideo) { unsigned int width = this->camera->ImageWidth(); @@ -462,5 +462,5 @@ void VideoRecorder::OnCancel() } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::VideoRecorder, +GZ_ADD_PLUGIN(gz::sim::VideoRecorder, gz::gui::Plugin) diff --git a/src/gui/plugins/view_angle/ViewAngle.cc b/src/gui/plugins/view_angle/ViewAngle.cc index e48b7cf6ec..5751042d4a 100644 --- a/src/gui/plugins/view_angle/ViewAngle.cc +++ b/src/gui/plugins/view_angle/ViewAngle.cc @@ -462,5 +462,5 @@ bool ViewAnglePrivate::UpdateQtCamClipDist() } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::ViewAngle, +GZ_ADD_PLUGIN(gz::sim::ViewAngle, gz::gui::Plugin) diff --git a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc index e929b7a0c7..936da55244 100644 --- a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc +++ b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc @@ -798,7 +798,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // View center of mass { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewCOM"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewCOM"); if (!this->viewCOMTarget.empty()) { rendering::NodePtr targetNode = @@ -824,7 +824,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // View inertia { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewInertia"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewInertia"); if (!this->viewInertiaTarget.empty()) { rendering::NodePtr targetNode = @@ -850,7 +850,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // view Transparent { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewTransparent"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewTransparent"); if (!this->viewTransparentTarget.empty()) { rendering::NodePtr targetNode = @@ -876,7 +876,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // View collisions { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewCollisions"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewCollisions"); if (!this->viewCollisionsTarget.empty()) { rendering::NodePtr targetNode = @@ -902,7 +902,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // View joints { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewJoints"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewJoints"); if (!this->viewJointsTarget.empty()) { rendering::NodePtr targetNode = @@ -928,7 +928,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // View wireframes { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewWireframes"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewWireframes"); if (!this->viewWireframesTarget.empty()) { rendering::NodePtr targetNode = @@ -954,7 +954,7 @@ void VisualizationCapabilitiesPrivate::OnRender() // View frames { - IGN_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewFrames"); + GZ_PROFILE("VisualizationCapabilitiesPrivate::OnRender ViewFrames"); if (!this->viewFramesTarget.empty()) { auto targetNode = this->scene->NodeByName(this->viewFramesTarget); @@ -2894,5 +2894,5 @@ bool VisualizationCapabilities::eventFilter(QObject *_obj, QEvent *_event) // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::VisualizationCapabilities, +GZ_ADD_PLUGIN(gz::sim::VisualizationCapabilities, gz::gui::Plugin) diff --git a/src/gui/plugins/visualize_contacts/VisualizeContacts.cc b/src/gui/plugins/visualize_contacts/VisualizeContacts.cc index fbd13e037c..bc35bcf002 100644 --- a/src/gui/plugins/visualize_contacts/VisualizeContacts.cc +++ b/src/gui/plugins/visualize_contacts/VisualizeContacts.cc @@ -161,7 +161,7 @@ void VisualizeContacts::OnVisualize(bool _checked) void VisualizeContacts::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("VisualizeContacts::Update"); + GZ_PROFILE("VisualizeContacts::Update"); if (!this->dataPtr->initialized) { @@ -310,5 +310,5 @@ void VisualizeContacts::UpdatePeriod(double _period) } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::VisualizeContacts, +GZ_ADD_PLUGIN(gz::sim::VisualizeContacts, gz::gui::Plugin) diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc index 2bbc2d9be8..6f4cbfbb90 100644 --- a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc @@ -260,7 +260,7 @@ bool VisualizeLidar::eventFilter(QObject *_obj, QEvent *_event) void VisualizeLidar::Update(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("VisualizeLidar::Update"); + GZ_PROFILE("VisualizeLidar::Update"); std::lock_guard lock(this->dataPtr->serviceMutex); @@ -526,5 +526,5 @@ QString VisualizeLidar::MinRange() const } // Register this plugin -IGNITION_ADD_PLUGIN(gz::sim::VisualizeLidar, +GZ_ADD_PLUGIN(gz::sim::VisualizeLidar, gz::gui::Plugin) diff --git a/src/ign.cc b/src/ign.cc index 2c03c1a813..d6c3878398 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -35,13 +35,13 @@ #include "gz/sim/gui/Gui.hh" ////////////////////////////////////////////////// -extern "C" char *ignitionGazeboVersion() +extern "C" char *gzSimVersion() { return strdup(GZ_SIM_VERSION_FULL); } ////////////////////////////////////////////////// -extern "C" char *gazeboVersionHeader() +extern "C" char *simVersionHeader() { return strdup(GZ_SIM_VERSION_HEADER); } diff --git a/src/ign.hh b/src/ign.hh index 5def288328..9a514c2b44 100644 --- a/src/ign.hh +++ b/src/ign.hh @@ -21,11 +21,11 @@ /// \brief External hook to read the library version. /// \return C-string representing the version. Ex.: 0.1.2 -extern "C" char *ignitionGazeboVersion(); +extern "C" char *gzSimVersion(); /// \brief Get the Gazebo version header. /// \return C-string containing the Gazebo version information. -extern "C" char *gazeboVersionHeader(); +extern "C" char *simVersionHeader(); /// \brief Set verbosity level /// \param[in] _verbosity 0 to 4 diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index 57624f4586..93cf8dd99f 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -56,7 +56,7 @@ std::string customExecStr(std::string _cmd) ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Server)) +TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(Server)) { std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf"; @@ -88,7 +88,7 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Server)) } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(CachedFuelWorld)) +TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(CachedFuelWorld)) { std::string projectPath = std::string(PROJECT_SOURCE_PATH) + "/test/worlds"; gz::common::setenv("GZ_FUEL_CACHE_PATH", projectPath.c_str()); @@ -102,7 +102,7 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(CachedFuelWorld)) } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(GazeboServer)) +TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(GazeboServer)) { std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf"; @@ -119,7 +119,7 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(GazeboServer)) } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Gazebo)) +TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(Gazebo)) { std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf"; @@ -136,7 +136,7 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Gazebo)) } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) +TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) { std::string cmd = kIgnCommand + " -s -r -v 4 --iterations 1 plugins.sdf"; diff --git a/src/network/NetworkManagerPrimary.cc b/src/network/NetworkManagerPrimary.cc index d3246d3058..4c58a8b8aa 100644 --- a/src/network/NetworkManagerPrimary.cc +++ b/src/network/NetworkManagerPrimary.cc @@ -112,7 +112,7 @@ bool NetworkManagerPrimary::Ready() const ////////////////////////////////////////////////// bool NetworkManagerPrimary::Step(const UpdateInfo &_info) { - IGN_PROFILE("NetworkManagerPrimary::Step"); + GZ_PROFILE("NetworkManagerPrimary::Step"); // Check all secondaries have been registered bool ready = true; @@ -150,7 +150,7 @@ bool NetworkManagerPrimary::Step(const UpdateInfo &_info) // Block until all secondaries are done { - IGN_PROFILE("Waiting for secondaries"); + GZ_PROFILE("Waiting for secondaries"); auto result = future.wait_for(10s); @@ -167,7 +167,7 @@ bool NetworkManagerPrimary::Step(const UpdateInfo &_info) // Update primary state with states received from secondaries { - IGN_PROFILE("Updating primary state"); + GZ_PROFILE("Updating primary state"); for (const auto &msg : this->secondaryStates) { this->dataPtr->ecm->SetState(msg); @@ -220,7 +220,7 @@ bool NetworkManagerPrimary::SecondariesCanStep() const void NetworkManagerPrimary::PopulateAffinities( private_msgs::SimulationStep &_msg) { - IGN_PROFILE("NetworkManagerPrimary::PopulateAffinities"); + GZ_PROFILE("NetworkManagerPrimary::PopulateAffinities"); // p: performer // l: level diff --git a/src/network/NetworkManagerSecondary.cc b/src/network/NetworkManagerSecondary.cc index 1f45ffe3ef..5ad4806fec 100644 --- a/src/network/NetworkManagerSecondary.cc +++ b/src/network/NetworkManagerSecondary.cc @@ -100,7 +100,7 @@ bool NetworkManagerSecondary::OnControl(const private_msgs::PeerControl &_req, void NetworkManagerSecondary::OnStep( const private_msgs::SimulationStep &_msg) { - IGN_PROFILE("NetworkManagerSecondary::OnStep"); + GZ_PROFILE("NetworkManagerSecondary::OnStep"); // Throttle the number of step messages going to the debug output. if (!_msg.stats().paused() && _msg.stats().iterations() % 1000 == 0) diff --git a/src/network/PeerTracker_TEST.cc b/src/network/PeerTracker_TEST.cc index 0240de393c..b510759bec 100644 --- a/src/network/PeerTracker_TEST.cc +++ b/src/network/PeerTracker_TEST.cc @@ -144,7 +144,7 @@ TEST(PeerTracker, PeerTracker) } ////////////////////////////////////////////////// -TEST(PeerTracker, IGN_UTILS_TEST_DISABLED_ON_MAC(PeerTrackerStale)) +TEST(PeerTracker, GZ_UTILS_TEST_DISABLED_ON_MAC(PeerTrackerStale)) { gz::common::Console::SetVerbosity(4); EventManager eventMgr; diff --git a/src/rendering/MarkerManager.cc b/src/rendering/MarkerManager.cc index 66c0c98db7..7697bc4329 100644 --- a/src/rendering/MarkerManager.cc +++ b/src/rendering/MarkerManager.cc @@ -49,13 +49,13 @@ class gz::sim::MarkerManagerPrivate /// \return True if the marker was processed successfully. public: bool ProcessMarkerMsg(const gz::msgs::Marker &_msg); - /// \brief Converts an Gazebo msg render type to Gazebo Sim Rendering + /// \brief Converts a Gazebo msg render type to Gazebo Sim Rendering /// \param[in] _msg The message data /// \return Converted rendering type, if any. public: gz::rendering::MarkerType MsgToType( const gz::msgs::Marker &_msg); - /// \brief Converts an Gazebo msg material to Gazebo Sim Rendering + /// \brief Converts a Gazebo msg material to Gazebo Sim Rendering // material. // \param[in] _msg The message data. // \return Converted rendering material, if any. diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index bb76535f1a..9224642273 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -765,7 +765,7 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/, void RenderUtil::UpdateFromECM(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("RenderUtil::UpdateFromECM"); + GZ_PROFILE("RenderUtil::UpdateFromECM"); std::lock_guard lock(this->dataPtr->updateMutex); this->dataPtr->simTime = _info.simTime; @@ -1024,7 +1024,7 @@ int RenderUtil::PendingSensors() const ////////////////////////////////////////////////// void RenderUtil::Update() { - IGN_PROFILE("RenderUtil::Update"); + GZ_PROFILE("RenderUtil::Update"); if (!this->dataPtr->initialized) return; @@ -1127,7 +1127,7 @@ void RenderUtil::Update() // remove existing entities { - IGN_PROFILE("RenderUtil::Update Remove"); + GZ_PROFILE("RenderUtil::Update Remove"); for (auto &entity : removeEntities) { auto node = this->dataPtr->sceneManager.NodeById(entity.first); @@ -1144,7 +1144,7 @@ void RenderUtil::Update() // create new entities { - IGN_PROFILE("RenderUtil::Update Create"); + GZ_PROFILE("RenderUtil::Update Create"); for (const auto &model : newModels) { uint64_t iteration = std::get<3>(model); @@ -1260,7 +1260,7 @@ void RenderUtil::Update() // update entities' pose { - IGN_PROFILE("RenderUtil::Update Poses"); + GZ_PROFILE("RenderUtil::Update Poses"); for (const auto &pose : entityPoses) { auto node = this->dataPtr->sceneManager.NodeById(pose.first); @@ -1536,7 +1536,7 @@ void RenderUtil::Update() // TODO(anyone) currently updates material colors of visual only, // need to extend to other updates { - IGN_PROFILE("RenderUtil::Update Visuals"); + GZ_PROFILE("RenderUtil::Update Visuals"); for (const auto &visual : entityVisuals) { if (!visual.second.has_material()) @@ -1600,7 +1600,7 @@ void RenderUtil::Update() void RenderUtilPrivate::CreateRenderingEntities( const EntityComponentManager &_ecm, const UpdateInfo &_info) { - IGN_PROFILE("RenderUtilPrivate::CreateRenderingEntities"); + GZ_PROFILE("RenderUtilPrivate::CreateRenderingEntities"); // Treat all pre-existent entities as new at startup // TODO(anyone) Combine the two CreateEntities functions below to reduce @@ -2171,7 +2171,7 @@ void RenderUtilPrivate::CreateEntitiesRuntime( void RenderUtilPrivate::UpdateRenderingEntities( const EntityComponentManager &_ecm) { - IGN_PROFILE("RenderUtilPrivate::UpdateRenderingEntities"); + GZ_PROFILE("RenderUtilPrivate::UpdateRenderingEntities"); _ecm.Each( [&](const Entity &_entity, const components::Model *, @@ -2340,7 +2340,7 @@ void RenderUtilPrivate::UpdateRenderingEntities( void RenderUtilPrivate::RemoveRenderingEntities( const EntityComponentManager &_ecm, const UpdateInfo &_info) { - IGN_PROFILE("RenderUtilPrivate::RemoveRenderingEntities"); + GZ_PROFILE("RenderUtilPrivate::RemoveRenderingEntities"); _ecm.EachRemoved( [&](const Entity &_entity, const components::Model *)->bool { @@ -2869,7 +2869,7 @@ void RenderUtilPrivate::RemoveBoundingBox(const Entity _entity) void RenderUtilPrivate::UpdateLights( const std::unordered_map &_entityLights) { - IGN_PROFILE("RenderUtil::Update Lights"); + GZ_PROFILE("RenderUtil::Update Lights"); for (const auto &light : _entityLights) { auto node = this->sceneManager.NodeById(light.first); diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc index eb241a256e..89c48b70fa 100644 --- a/src/systems/ackermann_steering/AckermannSteering.cc +++ b/src/systems/ackermann_steering/AckermannSteering.cc @@ -357,7 +357,7 @@ void AckermannSteering::Configure(const Entity &_entity, void AckermannSteering::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("AckermannSteering::PreUpdate"); + GZ_PROFILE("AckermannSteering::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -555,7 +555,7 @@ void AckermannSteering::PreUpdate(const gz::sim::UpdateInfo &_info, void AckermannSteering::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("AckermannSteering::PostUpdate"); + GZ_PROFILE("AckermannSteering::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; @@ -569,7 +569,7 @@ void AckermannSteeringPrivate::UpdateOdometry( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("AckermannSteering::UpdateOdometry"); + GZ_PROFILE("AckermannSteering::UpdateOdometry"); // Initialize, if not already initialized. if (this->leftJoints.empty() || this->rightJoints.empty() || @@ -676,7 +676,7 @@ void AckermannSteeringPrivate::UpdateVelocity( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("AckermannSteering::UpdateVelocity"); + GZ_PROFILE("AckermannSteering::UpdateVelocity"); double linVel; double angVel; @@ -758,15 +758,15 @@ void AckermannSteeringPrivate::OnCmdVel(const msgs::Twist &_msg) this->targetVel = _msg; } -IGNITION_ADD_PLUGIN(AckermannSteering, +GZ_ADD_PLUGIN(AckermannSteering, gz::sim::System, AckermannSteering::ISystemConfigure, AckermannSteering::ISystemPreUpdate, AckermannSteering::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(AckermannSteering, +GZ_ADD_PLUGIN_ALIAS(AckermannSteering, "gz::sim::systems::AckermannSteering") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(AckermannSteering, +GZ_ADD_PLUGIN_ALIAS(AckermannSteering, "ignition::gazebo::systems::AckermannSteering") diff --git a/src/systems/air_pressure/AirPressure.cc b/src/systems/air_pressure/AirPressure.cc index b8a8c312c0..43aba3ebfc 100644 --- a/src/systems/air_pressure/AirPressure.cc +++ b/src/systems/air_pressure/AirPressure.cc @@ -103,7 +103,7 @@ AirPressure::~AirPressure() = default; void AirPressure::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("AirPressure::PreUpdate"); + GZ_PROFILE("AirPressure::PreUpdate"); // Create components for (auto entity : this->dataPtr->newSensors) @@ -126,7 +126,7 @@ void AirPressure::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { // Only update and publish if not paused. - IGN_PROFILE("AirPressure::PostUpdate"); + GZ_PROFILE("AirPressure::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -217,7 +217,7 @@ void AirPressurePrivate::AddAirPressure( ////////////////////////////////////////////////// void AirPressurePrivate::CreateSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("AirPressurePrivate::CreateAirPressureEntities"); + GZ_PROFILE("AirPressurePrivate::CreateAirPressureEntities"); if (!this->initialized) { // Create air pressure sensors @@ -248,7 +248,7 @@ void AirPressurePrivate::CreateSensors(const EntityComponentManager &_ecm) ////////////////////////////////////////////////// void AirPressurePrivate::UpdateAirPressures(const EntityComponentManager &_ecm) { - IGN_PROFILE("AirPressurePrivate::UpdateAirPressures"); + GZ_PROFILE("AirPressurePrivate::UpdateAirPressures"); _ecm.Each( [&](const Entity &_entity, const components::AirPressureSensor *, @@ -274,7 +274,7 @@ void AirPressurePrivate::UpdateAirPressures(const EntityComponentManager &_ecm) void AirPressurePrivate::RemoveAirPressureEntities( const EntityComponentManager &_ecm) { - IGN_PROFILE("AirPressurePrivate::RemoveAirPressureEntities"); + GZ_PROFILE("AirPressurePrivate::RemoveAirPressureEntities"); _ecm.EachRemoved( [&](const Entity &_entity, const components::AirPressureSensor *)->bool @@ -293,12 +293,12 @@ void AirPressurePrivate::RemoveAirPressureEntities( }); } -IGNITION_ADD_PLUGIN(AirPressure, System, +GZ_ADD_PLUGIN(AirPressure, System, AirPressure::ISystemPreUpdate, AirPressure::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(AirPressure, "gz::sim::systems::AirPressure") +GZ_ADD_PLUGIN_ALIAS(AirPressure, "gz::sim::systems::AirPressure") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(AirPressure, "ignition::gazebo::systems::AirPressure") +GZ_ADD_PLUGIN_ALIAS(AirPressure, "ignition::gazebo::systems::AirPressure") diff --git a/src/systems/altimeter/Altimeter.cc b/src/systems/altimeter/Altimeter.cc index 686de58feb..a414e29aed 100644 --- a/src/systems/altimeter/Altimeter.cc +++ b/src/systems/altimeter/Altimeter.cc @@ -104,7 +104,7 @@ Altimeter::~Altimeter() = default; void Altimeter::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("Altimeter::PreUpdate"); + GZ_PROFILE("Altimeter::PreUpdate"); // Create components for (auto entity : this->dataPtr->newSensors) @@ -126,7 +126,7 @@ void Altimeter::PreUpdate(const UpdateInfo &/*_info*/, void Altimeter::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("Altimeter::PostUpdate"); + GZ_PROFILE("Altimeter::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -219,7 +219,7 @@ void AltimeterPrivate::AddAltimeter( ////////////////////////////////////////////////// void AltimeterPrivate::CreateSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("Altimeter::CreateAltimeterEntities"); + GZ_PROFILE("Altimeter::CreateAltimeterEntities"); if (!this->initialized) { // Create altimeters @@ -250,7 +250,7 @@ void AltimeterPrivate::CreateSensors(const EntityComponentManager &_ecm) ////////////////////////////////////////////////// void AltimeterPrivate::UpdateAltimeters(const EntityComponentManager &_ecm) { - IGN_PROFILE("Altimeter::UpdateAltimeters"); + GZ_PROFILE("Altimeter::UpdateAltimeters"); _ecm.Each( [&](const Entity &_entity, @@ -280,7 +280,7 @@ void AltimeterPrivate::UpdateAltimeters(const EntityComponentManager &_ecm) void AltimeterPrivate::RemoveAltimeterEntities( const EntityComponentManager &_ecm) { - IGN_PROFILE("Altimeter::RemoveAltimeterEntities"); + GZ_PROFILE("Altimeter::RemoveAltimeterEntities"); _ecm.EachRemoved( [&](const Entity &_entity, const components::Altimeter *)->bool @@ -299,12 +299,12 @@ void AltimeterPrivate::RemoveAltimeterEntities( }); } -IGNITION_ADD_PLUGIN(Altimeter, System, +GZ_ADD_PLUGIN(Altimeter, System, Altimeter::ISystemPreUpdate, Altimeter::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(Altimeter, "gz::sim::systems::Altimeter") +GZ_ADD_PLUGIN_ALIAS(Altimeter, "gz::sim::systems::Altimeter") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Altimeter, "ignition::gazebo::systems::Altimeter") +GZ_ADD_PLUGIN_ALIAS(Altimeter, "ignition::gazebo::systems::Altimeter") diff --git a/src/systems/apply_joint_force/ApplyJointForce.cc b/src/systems/apply_joint_force/ApplyJointForce.cc index 206f94928a..c95908d563 100644 --- a/src/systems/apply_joint_force/ApplyJointForce.cc +++ b/src/systems/apply_joint_force/ApplyJointForce.cc @@ -114,7 +114,7 @@ void ApplyJointForce::Configure(const Entity &_entity, void ApplyJointForce::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("ApplyJointForce::PreUpdate"); + GZ_PROFILE("ApplyJointForce::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -163,14 +163,14 @@ void ApplyJointForcePrivate::OnCmdForce(const msgs::Double &_msg) this->jointForceCmd = _msg.data(); } -IGNITION_ADD_PLUGIN(ApplyJointForce, +GZ_ADD_PLUGIN(ApplyJointForce, gz::sim::System, ApplyJointForce::ISystemConfigure, ApplyJointForce::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ApplyJointForce, +GZ_ADD_PLUGIN_ALIAS(ApplyJointForce, "gz::sim::systems::ApplyJointForce") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ApplyJointForce, +GZ_ADD_PLUGIN_ALIAS(ApplyJointForce, "ignition::gazebo::systems::ApplyJointForce") diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.cc b/src/systems/battery_plugin/LinearBatteryPlugin.cc index 10939c9e60..341ff7d025 100644 --- a/src/systems/battery_plugin/LinearBatteryPlugin.cc +++ b/src/systems/battery_plugin/LinearBatteryPlugin.cc @@ -437,7 +437,7 @@ void LinearBatteryPlugin::PreUpdate( const gz::sim::UpdateInfo &/*_info*/, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("LinearBatteryPlugin::PreUpdate"); + GZ_PROFILE("LinearBatteryPlugin::PreUpdate"); // \todo(anyone) Add in the ability to stop the battery from draining // after it has been started by a topic. See this comment: @@ -487,7 +487,7 @@ void LinearBatteryPlugin::PreUpdate( void LinearBatteryPlugin::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("LinearBatteryPlugin::Update"); + GZ_PROFILE("LinearBatteryPlugin::Update"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -548,7 +548,7 @@ void LinearBatteryPlugin::Update(const UpdateInfo &_info, void LinearBatteryPlugin::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("LinearBatteryPlugin::PostUpdate"); + GZ_PROFILE("LinearBatteryPlugin::PostUpdate"); // Nothing left to do if paused or the publisher wasn't created. if (_info.paused || !this->dataPtr->statePub) return; @@ -582,7 +582,7 @@ void LinearBatteryPlugin::PostUpdate(const UpdateInfo &_info, double LinearBatteryPlugin::OnUpdateVoltage( const common::Battery *_battery) { - IGN_ASSERT(_battery != nullptr, "common::Battery is null."); + GZ_ASSERT(_battery != nullptr, "common::Battery is null."); if (fabs(_battery->Voltage()) < 1e-3 && !this->dataPtr->startCharging) return 0.0; @@ -669,16 +669,16 @@ double LinearBatteryPlugin::OnUpdateVoltage( return voltage; } -IGNITION_ADD_PLUGIN(LinearBatteryPlugin, +GZ_ADD_PLUGIN(LinearBatteryPlugin, gz::sim::System, LinearBatteryPlugin::ISystemConfigure, LinearBatteryPlugin::ISystemPreUpdate, LinearBatteryPlugin::ISystemUpdate, LinearBatteryPlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(LinearBatteryPlugin, +GZ_ADD_PLUGIN_ALIAS(LinearBatteryPlugin, "gz::sim::systems::LinearBatteryPlugin") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LinearBatteryPlugin, +GZ_ADD_PLUGIN_ALIAS(LinearBatteryPlugin, "ignition::gazebo::systems::LinearBatteryPlugin") diff --git a/src/systems/breadcrumbs/Breadcrumbs.cc b/src/systems/breadcrumbs/Breadcrumbs.cc index 3e34d5e66d..e52ce0ed3a 100644 --- a/src/systems/breadcrumbs/Breadcrumbs.cc +++ b/src/systems/breadcrumbs/Breadcrumbs.cc @@ -175,7 +175,7 @@ void Breadcrumbs::Configure(const Entity &_entity, void Breadcrumbs::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("Breadcrumbs::PreUpdate"); + GZ_PROFILE("Breadcrumbs::PreUpdate"); if (this->initialized) { @@ -402,7 +402,7 @@ bool Breadcrumbs::MakeStatic(Entity _entity, EntityComponentManager &_ecm) ////////////////////////////////////////////////// void Breadcrumbs::OnDeploy(const msgs::Empty &) { - IGN_PROFILE("Breadcrumbs::PreUpdate"); + GZ_PROFILE("Breadcrumbs::PreUpdate"); { std::lock_guard lock(this->pendingCmdsMutex); @@ -433,12 +433,12 @@ void Breadcrumbs::OnDeploy(const msgs::Empty &) } } -IGNITION_ADD_PLUGIN(Breadcrumbs, +GZ_ADD_PLUGIN(Breadcrumbs, gz::sim::System, Breadcrumbs::ISystemConfigure, Breadcrumbs::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(Breadcrumbs, "gz::sim::systems::Breadcrumbs") +GZ_ADD_PLUGIN_ALIAS(Breadcrumbs, "gz::sim::systems::Breadcrumbs") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Breadcrumbs, "ignition::gazebo::systems::Breadcrumbs") +GZ_ADD_PLUGIN_ALIAS(Breadcrumbs, "ignition::gazebo::systems::Breadcrumbs") diff --git a/src/systems/buoyancy/Buoyancy.cc b/src/systems/buoyancy/Buoyancy.cc index b8ba7c290c..55f44bfded 100644 --- a/src/systems/buoyancy/Buoyancy.cc +++ b/src/systems/buoyancy/Buoyancy.cc @@ -340,7 +340,7 @@ void Buoyancy::Configure(const Entity &_entity, void Buoyancy::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("Buoyancy::PreUpdate"); + GZ_PROFILE("Buoyancy::PreUpdate"); const components::Gravity *gravity = _ecm.Component( this->dataPtr->world); if (!gravity) @@ -580,14 +580,14 @@ bool Buoyancy::IsEnabled(Entity _entity, return false; } -IGNITION_ADD_PLUGIN(Buoyancy, +GZ_ADD_PLUGIN(Buoyancy, gz::sim::System, Buoyancy::ISystemConfigure, Buoyancy::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(Buoyancy, +GZ_ADD_PLUGIN_ALIAS(Buoyancy, "gz::sim::systems::Buoyancy") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Buoyancy, +GZ_ADD_PLUGIN_ALIAS(Buoyancy, "ignition::gazebo::systems::Buoyancy") diff --git a/src/systems/buoyancy_engine/BuoyancyEngine.cc b/src/systems/buoyancy_engine/BuoyancyEngine.cc index d8a1249a1a..744db39665 100644 --- a/src/systems/buoyancy_engine/BuoyancyEngine.cc +++ b/src/systems/buoyancy_engine/BuoyancyEngine.cc @@ -274,15 +274,15 @@ void BuoyancyEnginePlugin::PreUpdate( link.AddWorldWrench(_ecm, zForce, {0, 0, 0}); } -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( BuoyancyEnginePlugin, gz::sim::System, BuoyancyEnginePlugin::ISystemConfigure, BuoyancyEnginePlugin::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(BuoyancyEnginePlugin, +GZ_ADD_PLUGIN_ALIAS(BuoyancyEnginePlugin, "gz::sim::systems::BuoyancyEngine") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(BuoyancyEnginePlugin, +GZ_ADD_PLUGIN_ALIAS(BuoyancyEnginePlugin, "ignition::gazebo::systems::BuoyancyEngine") diff --git a/src/systems/camera_video_recorder/CameraVideoRecorder.cc b/src/systems/camera_video_recorder/CameraVideoRecorder.cc index 32c334dfc8..81c558dc98 100644 --- a/src/systems/camera_video_recorder/CameraVideoRecorder.cc +++ b/src/systems/camera_video_recorder/CameraVideoRecorder.cc @@ -460,16 +460,16 @@ void CameraVideoRecorder::PostUpdate(const UpdateInfo &_info, << this->dataPtr->service << "]" << std::endl; } -IGNITION_ADD_PLUGIN(CameraVideoRecorder, +GZ_ADD_PLUGIN(CameraVideoRecorder, gz::sim::System, CameraVideoRecorder::ISystemConfigure, CameraVideoRecorder::ISystemPostUpdate) // Add plugin alias so that we can refer to the plugin without the version // namespace -IGNITION_ADD_PLUGIN_ALIAS(CameraVideoRecorder, +GZ_ADD_PLUGIN_ALIAS(CameraVideoRecorder, "gz::sim::systems::CameraVideoRecorder") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(CameraVideoRecorder, +GZ_ADD_PLUGIN_ALIAS(CameraVideoRecorder, "ignition::gazebo::systems::CameraVideoRecorder") diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.cc b/src/systems/collada_world_exporter/ColladaWorldExporter.cc index 8ab4c3146d..b0dfc6d1ad 100644 --- a/src/systems/collada_world_exporter/ColladaWorldExporter.cc +++ b/src/systems/collada_world_exporter/ColladaWorldExporter.cc @@ -323,13 +323,13 @@ void ColladaWorldExporter::PostUpdate(const UpdateInfo & /*_info*/, this->dataPtr->Export(_ecm); } -IGNITION_ADD_PLUGIN(ColladaWorldExporter, +GZ_ADD_PLUGIN(ColladaWorldExporter, System, ColladaWorldExporter::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ColladaWorldExporter, +GZ_ADD_PLUGIN_ALIAS(ColladaWorldExporter, "gz::sim::systems::ColladaWorldExporter") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ColladaWorldExporter, +GZ_ADD_PLUGIN_ALIAS(ColladaWorldExporter, "ignition::gazebo::systems::ColladaWorldExporter") diff --git a/src/systems/comms_endpoint/CommsEndpoint.cc b/src/systems/comms_endpoint/CommsEndpoint.cc index b4c5061e87..2bfc272958 100644 --- a/src/systems/comms_endpoint/CommsEndpoint.cc +++ b/src/systems/comms_endpoint/CommsEndpoint.cc @@ -167,7 +167,7 @@ void CommsEndpoint::PreUpdate( const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("CommsEndpoint::PreUpdate"); + GZ_PROFILE("CommsEndpoint::PreUpdate"); if (this->dataPtr->bound) return; @@ -184,14 +184,14 @@ void CommsEndpoint::PreUpdate( this->dataPtr->Bind(); } -IGNITION_ADD_PLUGIN(CommsEndpoint, +GZ_ADD_PLUGIN(CommsEndpoint, gz::sim::System, CommsEndpoint::ISystemConfigure, CommsEndpoint::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(CommsEndpoint, +GZ_ADD_PLUGIN_ALIAS(CommsEndpoint, "gz::sim::systems::CommsEndpoint") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(CommsEndpoint, +GZ_ADD_PLUGIN_ALIAS(CommsEndpoint, "ignition::gazebo::systems::CommsEndpoint") diff --git a/src/systems/comms_endpoint/CommsEndpoint.hh b/src/systems/comms_endpoint/CommsEndpoint.hh index 7b9c3a68ec..2bd61cfcb4 100644 --- a/src/systems/comms_endpoint/CommsEndpoint.hh +++ b/src/systems/comms_endpoint/CommsEndpoint.hh @@ -85,7 +85,7 @@ namespace systems gz::sim::EntityComponentManager &_ecm) override; /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/src/systems/contact/Contact.cc b/src/systems/contact/Contact.cc index a1166675a7..7b3ec722e6 100644 --- a/src/systems/contact/Contact.cc +++ b/src/systems/contact/Contact.cc @@ -156,7 +156,7 @@ void ContactSensor::Publish() ////////////////////////////////////////////////// void ContactPrivate::CreateSensors(EntityComponentManager &_ecm) { - IGN_PROFILE("ContactPrivate::CreateSensors"); + GZ_PROFILE("ContactPrivate::CreateSensors"); _ecm.EachNew( [&](const Entity &_entity, const components::ContactSensor *_contact) -> bool @@ -215,7 +215,7 @@ void ContactPrivate::CreateSensors(EntityComponentManager &_ecm) void ContactPrivate::UpdateSensors(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("ContactPrivate::UpdateSensors"); + GZ_PROFILE("ContactPrivate::UpdateSensors"); for (const auto &item : this->entitySensorMap) { for (const Entity &entity : item.second->collisionEntities) @@ -236,7 +236,7 @@ void ContactPrivate::UpdateSensors(const UpdateInfo &_info, void ContactPrivate::RemoveSensors( const EntityComponentManager &_ecm) { - IGN_PROFILE("ContactPrivate::RemoveSensors"); + GZ_PROFILE("ContactPrivate::RemoveSensors"); _ecm.EachRemoved( [&](const Entity &_entity, const components::ContactSensor *)->bool @@ -262,7 +262,7 @@ Contact::Contact() : System(), dataPtr(std::make_unique()) ////////////////////////////////////////////////// void Contact::PreUpdate(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("Contact::PreUpdate"); + GZ_PROFILE("Contact::PreUpdate"); this->dataPtr->CreateSensors(_ecm); } @@ -270,7 +270,7 @@ void Contact::PreUpdate(const UpdateInfo &, EntityComponentManager &_ecm) void Contact::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("Contact::PostUpdate"); + GZ_PROFILE("Contact::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -294,13 +294,13 @@ void Contact::PostUpdate(const UpdateInfo &_info, this->dataPtr->RemoveSensors(_ecm); } -IGNITION_ADD_PLUGIN(Contact, System, +GZ_ADD_PLUGIN(Contact, System, Contact::ISystemPreUpdate, Contact::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(Contact, "gz::sim::systems::Contact") +GZ_ADD_PLUGIN_ALIAS(Contact, "gz::sim::systems::Contact") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Contact, "ignition::gazebo::systems::Contact") +GZ_ADD_PLUGIN_ALIAS(Contact, "ignition::gazebo::systems::Contact") diff --git a/src/systems/detachable_joint/DetachableJoint.cc b/src/systems/detachable_joint/DetachableJoint.cc index 5f2c6fb52b..8d39f1eca9 100644 --- a/src/systems/detachable_joint/DetachableJoint.cc +++ b/src/systems/detachable_joint/DetachableJoint.cc @@ -117,7 +117,7 @@ void DetachableJoint::PreUpdate( const gz::sim::UpdateInfo &/*_info*/, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("DetachableJoint::PreUpdate"); + GZ_PROFILE("DetachableJoint::PreUpdate"); if (this->validConfig && !this->initialized) { // Look for the child model and link @@ -189,14 +189,14 @@ void DetachableJoint::OnDetachRequest(const msgs::Empty &) this->detachRequested = true; } -IGNITION_ADD_PLUGIN(DetachableJoint, +GZ_ADD_PLUGIN(DetachableJoint, gz::sim::System, DetachableJoint::ISystemConfigure, DetachableJoint::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(DetachableJoint, +GZ_ADD_PLUGIN_ALIAS(DetachableJoint, "gz::sim::systems::DetachableJoint") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(DetachableJoint, +GZ_ADD_PLUGIN_ALIAS(DetachableJoint, "ignition::gazebo::systems::DetachableJoint") diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc index be08a3ec36..a5eef5cbbe 100644 --- a/src/systems/diff_drive/DiffDrive.cc +++ b/src/systems/diff_drive/DiffDrive.cc @@ -389,7 +389,7 @@ void DiffDrive::Configure(const Entity &_entity, void DiffDrive::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("DiffDrive::PreUpdate"); + GZ_PROFILE("DiffDrive::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -514,7 +514,7 @@ void DiffDrive::PreUpdate(const gz::sim::UpdateInfo &_info, void DiffDrive::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("DiffDrive::PostUpdate"); + GZ_PROFILE("DiffDrive::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; @@ -527,7 +527,7 @@ void DiffDrive::PostUpdate(const UpdateInfo &_info, void DiffDrivePrivate::UpdateOdometry(const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("DiffDrive::UpdateOdometry"); + GZ_PROFILE("DiffDrive::UpdateOdometry"); // Initialize, if not already initialized. if (!this->odom.Initialized()) { @@ -622,7 +622,7 @@ void DiffDrivePrivate::UpdateOdometry(const gz::sim::UpdateInfo &_info, void DiffDrivePrivate::UpdateVelocity(const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("DiffDrive::UpdateVelocity"); + GZ_PROFILE("DiffDrive::UpdateVelocity"); double linVel; double angVel; @@ -673,13 +673,13 @@ void DiffDrivePrivate::OnEnable(const msgs::Boolean &_msg) } } -IGNITION_ADD_PLUGIN(DiffDrive, +GZ_ADD_PLUGIN(DiffDrive, gz::sim::System, DiffDrive::ISystemConfigure, DiffDrive::ISystemPreUpdate, DiffDrive::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(DiffDrive, "gz::sim::systems::DiffDrive") +GZ_ADD_PLUGIN_ALIAS(DiffDrive, "gz::sim::systems::DiffDrive") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(DiffDrive, "ignition::gazebo::systems::DiffDrive") +GZ_ADD_PLUGIN_ALIAS(DiffDrive, "ignition::gazebo::systems::DiffDrive") diff --git a/src/systems/elevator/Elevator.cc b/src/systems/elevator/Elevator.cc index a89acf6753..e36a8e240a 100644 --- a/src/systems/elevator/Elevator.cc +++ b/src/systems/elevator/Elevator.cc @@ -239,7 +239,7 @@ void Elevator::Configure(const Entity &_entity, void Elevator::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("Elevator::PostUpdate"); + GZ_PROFILE("Elevator::PostUpdate"); if (_info.paused) return; // Throttle update rate @@ -441,15 +441,15 @@ void ElevatorPrivate::OnCmdMsg(const msgs::Int32 &_msg) this->stateMachine->process_event(events::EnqueueNewTarget(_msg.data())); } -IGNITION_ADD_PLUGIN(Elevator, System, Elevator::ISystemConfigure, +GZ_ADD_PLUGIN(Elevator, System, Elevator::ISystemConfigure, Elevator::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(Elevator, "gz::sim::systems::Elevator") +GZ_ADD_PLUGIN_ALIAS(Elevator, "gz::sim::systems::Elevator") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Elevator, "ignition::gazebo::systems::Elevator") +GZ_ADD_PLUGIN_ALIAS(Elevator, "ignition::gazebo::systems::Elevator") } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/Elevator.hh b/src/systems/elevator/Elevator.hh index 39f26a372d..b02745d75b 100644 --- a/src/systems/elevator/Elevator.hh +++ b/src/systems/elevator/Elevator.hh @@ -127,7 +127,7 @@ class GZ_GAZEBO_VISIBLE Elevator : public System, }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/ElevatorCommonPrivate.hh b/src/systems/elevator/ElevatorCommonPrivate.hh index 91a8818e15..5ccac6b7a4 100644 --- a/src/systems/elevator/ElevatorCommonPrivate.hh +++ b/src/systems/elevator/ElevatorCommonPrivate.hh @@ -92,7 +92,7 @@ class ElevatorCommonPrivate }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/ElevatorStateMachine.hh b/src/systems/elevator/ElevatorStateMachine.hh index 9f28d1b93c..3eeaefd0e5 100644 --- a/src/systems/elevator/ElevatorStateMachine.hh +++ b/src/systems/elevator/ElevatorStateMachine.hh @@ -135,7 +135,7 @@ class ElevatorStateMachineDef using ElevatorStateMachine = ::afsm::state_machine; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/state_machine/ActionsImpl.hh b/src/systems/elevator/state_machine/ActionsImpl.hh index 16e5d31af9..82c595a520 100644 --- a/src/systems/elevator/state_machine/ActionsImpl.hh +++ b/src/systems/elevator/state_machine/ActionsImpl.hh @@ -96,6 +96,6 @@ struct CabinAtTarget } // namespace actions } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/state_machine/ElevatorStateMachineImpl.hh b/src/systems/elevator/state_machine/ElevatorStateMachineImpl.hh index 3a9a5e5fa4..a913173d44 100644 --- a/src/systems/elevator/state_machine/ElevatorStateMachineImpl.hh +++ b/src/systems/elevator/state_machine/ElevatorStateMachineImpl.hh @@ -125,7 +125,7 @@ ElevatorStateMachineDef::ElevatorStateMachineDef( ElevatorStateMachineDef::~ElevatorStateMachineDef() = default; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/state_machine/EventsImpl.hh b/src/systems/elevator/state_machine/EventsImpl.hh index ce50894970..311af0adbc 100644 --- a/src/systems/elevator/state_machine/EventsImpl.hh +++ b/src/systems/elevator/state_machine/EventsImpl.hh @@ -74,6 +74,6 @@ struct CabinAtTarget } // namespace events } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/state_machine/GuardsImpl.hh b/src/systems/elevator/state_machine/GuardsImpl.hh index 0a6c8349e8..21ba31f5f2 100644 --- a/src/systems/elevator/state_machine/GuardsImpl.hh +++ b/src/systems/elevator/state_machine/GuardsImpl.hh @@ -77,6 +77,6 @@ struct NoQueuedTarget } // namespace guards } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/state_machine/StatesImpl.hh b/src/systems/elevator/state_machine/StatesImpl.hh index bc636aed2d..47d29acf93 100644 --- a/src/systems/elevator/state_machine/StatesImpl.hh +++ b/src/systems/elevator/state_machine/StatesImpl.hh @@ -245,6 +245,6 @@ struct ElevatorStateMachineDef::MoveCabinState : state }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/utils/DoorTimer.cc b/src/systems/elevator/utils/DoorTimer.cc index 2ac9cb4046..587ba3cae4 100644 --- a/src/systems/elevator/utils/DoorTimer.cc +++ b/src/systems/elevator/utils/DoorTimer.cc @@ -100,6 +100,6 @@ void DoorTimer::Update(const UpdateInfo &_info, bool _isDoorwayBlocked) } } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/utils/DoorTimer.hh b/src/systems/elevator/utils/DoorTimer.hh index 31716802b9..50607f6887 100644 --- a/src/systems/elevator/utils/DoorTimer.hh +++ b/src/systems/elevator/utils/DoorTimer.hh @@ -73,7 +73,7 @@ class DoorTimer }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/utils/JointMonitor.cc b/src/systems/elevator/utils/JointMonitor.cc index d600cbb867..acf23cfaa4 100644 --- a/src/systems/elevator/utils/JointMonitor.cc +++ b/src/systems/elevator/utils/JointMonitor.cc @@ -97,6 +97,6 @@ void JointMonitor::Update(const EntityComponentManager &_ecm) } } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/elevator/utils/JointMonitor.hh b/src/systems/elevator/utils/JointMonitor.hh index eea1284dc6..b4940bedfc 100644 --- a/src/systems/elevator/utils/JointMonitor.hh +++ b/src/systems/elevator/utils/JointMonitor.hh @@ -72,7 +72,7 @@ class JointMonitor }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/follow_actor/FollowActor.cc b/src/systems/follow_actor/FollowActor.cc index 54a4d442ce..6625010f26 100644 --- a/src/systems/follow_actor/FollowActor.cc +++ b/src/systems/follow_actor/FollowActor.cc @@ -194,7 +194,7 @@ void FollowActor::Configure(const Entity &_entity, void FollowActor::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("FollowActor::PreUpdate"); + GZ_PROFILE("FollowActor::PreUpdate"); if (_info.paused) return; @@ -286,12 +286,12 @@ void FollowActor::PreUpdate(const UpdateInfo &_info, components::AnimationTime::typeId, ComponentState::OneTimeChange); } -IGNITION_ADD_PLUGIN(FollowActor, System, +GZ_ADD_PLUGIN(FollowActor, System, FollowActor::ISystemConfigure, FollowActor::ISystemPreUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(FollowActor, "gz::sim::systems::FollowActor") +GZ_ADD_PLUGIN_ALIAS(FollowActor, "gz::sim::systems::FollowActor") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(FollowActor, "ignition::gazebo::systems::FollowActor") +GZ_ADD_PLUGIN_ALIAS(FollowActor, "ignition::gazebo::systems::FollowActor") diff --git a/src/systems/force_torque/ForceTorque.cc b/src/systems/force_torque/ForceTorque.cc index a99ea0872a..171d40bd8c 100644 --- a/src/systems/force_torque/ForceTorque.cc +++ b/src/systems/force_torque/ForceTorque.cc @@ -111,7 +111,7 @@ ForceTorque::~ForceTorque() = default; void ForceTorque::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("ForceTorque::PreUpdate"); + GZ_PROFILE("ForceTorque::PreUpdate"); this->dataPtr->CreateForceTorqueEntities(_ecm); } @@ -119,7 +119,7 @@ void ForceTorque::PreUpdate(const UpdateInfo &/*_info*/, void ForceTorque::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("ForceTorque::PostUpdate"); + GZ_PROFILE("ForceTorque::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -276,7 +276,7 @@ void ForceTorquePrivate::CreateForceTorqueEntities(EntityComponentManager &_ecm) ////////////////////////////////////////////////// void ForceTorquePrivate::Update(const EntityComponentManager &_ecm) { - IGN_PROFILE("ForceTorquePrivate::Update"); + GZ_PROFILE("ForceTorquePrivate::Update"); _ecm.Each( [&](const Entity &_entity, const components::ForceTorque *) -> bool { @@ -343,7 +343,7 @@ void ForceTorquePrivate::Update(const EntityComponentManager &_ecm) void ForceTorquePrivate::RemoveForceTorqueEntities( const EntityComponentManager &_ecm) { - IGN_PROFILE("ForceTorquePrivate::RemoveForceTorqueEntities"); + GZ_PROFILE("ForceTorquePrivate::RemoveForceTorqueEntities"); _ecm.EachRemoved( [&](const Entity &_entity, const components::ForceTorque *)->bool @@ -362,12 +362,12 @@ void ForceTorquePrivate::RemoveForceTorqueEntities( }); } -IGNITION_ADD_PLUGIN(ForceTorque, System, +GZ_ADD_PLUGIN(ForceTorque, System, ForceTorque::ISystemPreUpdate, ForceTorque::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(ForceTorque, "gz::sim::systems::ForceTorque") +GZ_ADD_PLUGIN_ALIAS(ForceTorque, "gz::sim::systems::ForceTorque") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ForceTorque, "ignition::gazebo::systems::ForceTorque") +GZ_ADD_PLUGIN_ALIAS(ForceTorque, "ignition::gazebo::systems::ForceTorque") diff --git a/src/systems/hydrodynamics/Hydrodynamics.cc b/src/systems/hydrodynamics/Hydrodynamics.cc index 289a063779..6ed85bb9f8 100644 --- a/src/systems/hydrodynamics/Hydrodynamics.cc +++ b/src/systems/hydrodynamics/Hydrodynamics.cc @@ -400,17 +400,17 @@ void Hydrodynamics::PreUpdate( pose->Rot()*totalTorque); } -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( Hydrodynamics, System, Hydrodynamics::ISystemConfigure, Hydrodynamics::ISystemPreUpdate ) -IGNITION_ADD_PLUGIN_ALIAS( +GZ_ADD_PLUGIN_ALIAS( Hydrodynamics, "gz::sim::systems::Hydrodynamics") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS( +GZ_ADD_PLUGIN_ALIAS( Hydrodynamics, "ignition::gazebo::systems::Hydrodynamics") diff --git a/src/systems/imu/Imu.cc b/src/systems/imu/Imu.cc index fb79253eaf..b8866adeaa 100644 --- a/src/systems/imu/Imu.cc +++ b/src/systems/imu/Imu.cc @@ -108,7 +108,7 @@ Imu::~Imu() = default; void Imu::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("Imu::PreUpdate"); + GZ_PROFILE("Imu::PreUpdate"); // Create components for (auto entity : this->dataPtr->newSensors) @@ -130,7 +130,7 @@ void Imu::PreUpdate(const UpdateInfo &/*_info*/, void Imu::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("Imu::PostUpdate"); + GZ_PROFILE("Imu::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -262,7 +262,7 @@ void ImuPrivate::AddSensor( ////////////////////////////////////////////////// void ImuPrivate::CreateSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("ImuPrivate::CreateImuEntities"); + GZ_PROFILE("ImuPrivate::CreateImuEntities"); // Get World Entity if (kNullEntity == this->worldEntity) this->worldEntity = _ecm.EntityByComponents(components::World()); @@ -302,7 +302,7 @@ void ImuPrivate::CreateSensors(const EntityComponentManager &_ecm) ////////////////////////////////////////////////// void ImuPrivate::Update(const EntityComponentManager &_ecm) { - IGN_PROFILE("ImuPrivate::Update"); + GZ_PROFILE("ImuPrivate::Update"); _ecm.Each( [&](const Entity &_entity, const components::Imu *)->bool @@ -358,12 +358,12 @@ void ImuPrivate::RemoveImuEntities( }); } -IGNITION_ADD_PLUGIN(Imu, System, +GZ_ADD_PLUGIN(Imu, System, Imu::ISystemPreUpdate, Imu::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(Imu, "gz::sim::systems::Imu") +GZ_ADD_PLUGIN_ALIAS(Imu, "gz::sim::systems::Imu") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Imu, "ignition::gazebo::systems::Imu") +GZ_ADD_PLUGIN_ALIAS(Imu, "ignition::gazebo::systems::Imu") diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc index 7a96809e63..54a50a6d09 100644 --- a/src/systems/joint_controller/JointController.cc +++ b/src/systems/joint_controller/JointController.cc @@ -176,7 +176,7 @@ void JointController::Configure(const Entity &_entity, void JointController::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("JointController::PreUpdate"); + GZ_PROFILE("JointController::PreUpdate"); // If the joint hasn't been identified yet, the plugin is disabled if (this->dataPtr->jointEntity == kNullEntity) @@ -259,14 +259,14 @@ void JointControllerPrivate::OnCmdVel(const msgs::Double &_msg) this->jointVelCmd = _msg.data(); } -IGNITION_ADD_PLUGIN(JointController, +GZ_ADD_PLUGIN(JointController, gz::sim::System, JointController::ISystemConfigure, JointController::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(JointController, +GZ_ADD_PLUGIN_ALIAS(JointController, "gz::sim::systems::JointController") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(JointController, +GZ_ADD_PLUGIN_ALIAS(JointController, "ignition::gazebo::systems::JointController") diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc index 47a80e1837..c51f32ddb0 100644 --- a/src/systems/joint_position_controller/JointPositionController.cc +++ b/src/systems/joint_position_controller/JointPositionController.cc @@ -221,7 +221,7 @@ void JointPositionController::PreUpdate( const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("JointPositionController::PreUpdate"); + GZ_PROFILE("JointPositionController::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -356,14 +356,14 @@ void JointPositionControllerPrivate::OnCmdPos(const msgs::Double &_msg) this->jointPosCmd = _msg.data(); } -IGNITION_ADD_PLUGIN(JointPositionController, +GZ_ADD_PLUGIN(JointPositionController, gz::sim::System, JointPositionController::ISystemConfigure, JointPositionController::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(JointPositionController, +GZ_ADD_PLUGIN_ALIAS(JointPositionController, "gz::sim::systems::JointPositionController") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(JointPositionController, +GZ_ADD_PLUGIN_ALIAS(JointPositionController, "ignition::gazebo::systems::JointPositionController") diff --git a/src/systems/joint_state_publisher/JointStatePublisher.cc b/src/systems/joint_state_publisher/JointStatePublisher.cc index 9a4e9ae21d..ca37844bcf 100644 --- a/src/systems/joint_state_publisher/JointStatePublisher.cc +++ b/src/systems/joint_state_publisher/JointStatePublisher.cc @@ -312,14 +312,14 @@ void JointStatePublisher::PostUpdate(const UpdateInfo &_info, this->modelPub->Publish(msg); } -IGNITION_ADD_PLUGIN(JointStatePublisher, +GZ_ADD_PLUGIN(JointStatePublisher, gz::sim::System, JointStatePublisher::ISystemConfigure, JointStatePublisher::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(JointStatePublisher, +GZ_ADD_PLUGIN_ALIAS(JointStatePublisher, "gz::sim::systems::JointStatePublisher") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(JointStatePublisher, +GZ_ADD_PLUGIN_ALIAS(JointStatePublisher, "ignition::gazebo::systems::JointStatePublisher") diff --git a/src/systems/joint_traj_control/JointTrajectoryController.cc b/src/systems/joint_traj_control/JointTrajectoryController.cc index 940a1dbf3f..5c0b332b8f 100644 --- a/src/systems/joint_traj_control/JointTrajectoryController.cc +++ b/src/systems/joint_traj_control/JointTrajectoryController.cc @@ -411,7 +411,7 @@ void JointTrajectoryController::PreUpdate( const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("JointTrajectoryController::PreUpdate"); + GZ_PROFILE("JointTrajectoryController::PreUpdate"); // Create required components for each joint (only once) if (!this->dataPtr->componentSetupFinished) @@ -1058,15 +1058,15 @@ void Trajectory::Reset() } // Register plugin -IGNITION_ADD_PLUGIN(JointTrajectoryController, +GZ_ADD_PLUGIN(JointTrajectoryController, gz::sim::System, JointTrajectoryController::ISystemConfigure, JointTrajectoryController::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS( +GZ_ADD_PLUGIN_ALIAS( JointTrajectoryController, "gz::sim::systems::JointTrajectoryController") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS( +GZ_ADD_PLUGIN_ALIAS( JointTrajectoryController, "ignition::gazebo::systems::JointTrajectoryController") diff --git a/src/systems/joint_traj_control/JointTrajectoryController.hh b/src/systems/joint_traj_control/JointTrajectoryController.hh index 68b51ce8fc..09dc7d9e48 100644 --- a/src/systems/joint_traj_control/JointTrajectoryController.hh +++ b/src/systems/joint_traj_control/JointTrajectoryController.hh @@ -157,7 +157,7 @@ namespace systems private: std::unique_ptr dataPtr; }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc b/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc index 5f91da5c82..a42d3f8043 100644 --- a/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc +++ b/src/systems/kinetic_energy_monitor/KineticEnergyMonitor.cc @@ -139,7 +139,7 @@ void KineticEnergyMonitor::Configure(const Entity &_entity, void KineticEnergyMonitor::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("KineticEnergyMonitor::PostUpdate"); + GZ_PROFILE("KineticEnergyMonitor::PostUpdate"); // Nothing left to do if paused or the publisher wasn't created. if (_info.paused || !this->dataPtr->pub) return; @@ -168,14 +168,14 @@ void KineticEnergyMonitor::PostUpdate(const UpdateInfo &_info, } } -IGNITION_ADD_PLUGIN(KineticEnergyMonitor, +GZ_ADD_PLUGIN(KineticEnergyMonitor, gz::sim::System, KineticEnergyMonitor::ISystemConfigure, KineticEnergyMonitor::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(KineticEnergyMonitor, +GZ_ADD_PLUGIN_ALIAS(KineticEnergyMonitor, "gz::sim::systems::KineticEnergyMonitor") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(KineticEnergyMonitor, +GZ_ADD_PLUGIN_ALIAS(KineticEnergyMonitor, "ignition::gazebo::systems::KineticEnergyMonitor") diff --git a/src/systems/label/Label.cc b/src/systems/label/Label.cc index deff664d0f..ba800e520a 100644 --- a/src/systems/label/Label.cc +++ b/src/systems/label/Label.cc @@ -102,8 +102,8 @@ void Label::Configure(const Entity &_entity, } } -IGNITION_ADD_PLUGIN(Label, System, Label::ISystemConfigure) -IGNITION_ADD_PLUGIN_ALIAS(Label, "gz::sim::systems::Label") +GZ_ADD_PLUGIN(Label, System, Label::ISystemConfigure) +GZ_ADD_PLUGIN_ALIAS(Label, "gz::sim::systems::Label") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Label, "ignition::gazebo::systems::Label") +GZ_ADD_PLUGIN_ALIAS(Label, "ignition::gazebo::systems::Label") diff --git a/src/systems/lift_drag/LiftDrag.cc b/src/systems/lift_drag/LiftDrag.cc index 98a0f6e243..e318cbcc0c 100644 --- a/src/systems/lift_drag/LiftDrag.cc +++ b/src/systems/lift_drag/LiftDrag.cc @@ -75,7 +75,7 @@ class gz::sim::systems::LiftDragPrivate public: double cma = 0.01; /// \brief angle of attach when airfoil stalls - public: double alphaStall = IGN_PI_2; + public: double alphaStall = GZ_PI_2; /// \brief Cl-alpha rate after stall public: double claStall = 0.0; @@ -250,7 +250,7 @@ LiftDrag::LiftDrag() ////////////////////////////////////////////////// void LiftDragPrivate::Update(EntityComponentManager &_ecm) { - IGN_PROFILE("LiftDragPrivate::Update"); + GZ_PROFILE("LiftDragPrivate::Update"); // get linear velocity at cp in world frame const auto worldLinVel = _ecm.Component(this->linkEntity); @@ -308,9 +308,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) double sweep = std::asin(sinSweepAngle); // truncate sweep to within +/-90 deg - while (std::fabs(sweep) > 0.5 * IGN_PI) + while (std::fabs(sweep) > 0.5 * GZ_PI) { - sweep = sweep > 0 ? sweep - IGN_PI : sweep + IGN_PI; + sweep = sweep > 0 ? sweep - GZ_PI : sweep + GZ_PI; } // angle of attack is the angle between @@ -351,9 +351,9 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) alpha = this->alpha0 + std::acos(cosAlpha); // normalize to within +/-90 deg - while (fabs(alpha) > 0.5 * IGN_PI) + while (fabs(alpha) > 0.5 * GZ_PI) { - alpha = alpha > 0 ? alpha - IGN_PI : alpha + IGN_PI; + alpha = alpha > 0 ? alpha - GZ_PI : alpha + GZ_PI; } // compute dynamic pressure @@ -513,7 +513,7 @@ void LiftDrag::Configure(const Entity &_entity, ////////////////////////////////////////////////// void LiftDrag::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("LiftDrag::PreUpdate"); + GZ_PROFILE("LiftDrag::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -557,12 +557,12 @@ void LiftDrag::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) } } -IGNITION_ADD_PLUGIN(LiftDrag, +GZ_ADD_PLUGIN(LiftDrag, gz::sim::System, LiftDrag::ISystemConfigure, LiftDrag::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(LiftDrag, "gz::sim::systems::LiftDrag") +GZ_ADD_PLUGIN_ALIAS(LiftDrag, "gz::sim::systems::LiftDrag") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LiftDrag, "ignition::gazebo::systems::LiftDrag") +GZ_ADD_PLUGIN_ALIAS(LiftDrag, "ignition::gazebo::systems::LiftDrag") diff --git a/src/systems/log/LogPlayback.cc b/src/systems/log/LogPlayback.cc index 38da93369e..921a64cff5 100644 --- a/src/systems/log/LogPlayback.cc +++ b/src/systems/log/LogPlayback.cc @@ -456,7 +456,7 @@ bool LogPlaybackPrivate::ExtractStateAndResources() ////////////////////////////////////////////////// void LogPlayback::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("LogPlayback::Update"); + GZ_PROFILE("LogPlayback::Update"); if (_info.dt == std::chrono::steady_clock::duration::zero()) return; @@ -616,14 +616,14 @@ void LogPlayback::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) } } -IGNITION_ADD_PLUGIN(gz::sim::systems::LogPlayback, +GZ_ADD_PLUGIN(gz::sim::systems::LogPlayback, gz::sim::System, LogPlayback::ISystemConfigure, LogPlayback::ISystemUpdate) -IGNITION_ADD_PLUGIN_ALIAS(LogPlayback, +GZ_ADD_PLUGIN_ALIAS(LogPlayback, "gz::sim::systems::LogPlayback") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LogPlayback, +GZ_ADD_PLUGIN_ALIAS(LogPlayback, "ignition::gazebo::systems::LogPlayback") diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index 036a8cda09..d879a5da7d 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -638,7 +638,7 @@ void LogRecordPrivate::CompressStateAndResources() void LogRecord::PreUpdate(const UpdateInfo &_info, EntityComponentManager &) { - IGN_PROFILE("LogRecord::PreUpdate"); + GZ_PROFILE("LogRecord::PreUpdate"); // Safe guard to prevent seg faults if recorder could not be started if (!this->dataPtr->instStarted) return; @@ -649,7 +649,7 @@ void LogRecord::PreUpdate(const UpdateInfo &_info, void LogRecord::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("LogRecord::PostUpdate"); + GZ_PROFILE("LogRecord::PostUpdate"); // Safe guard to prevent seg faults if recorder could not be started if (!this->dataPtr->instStarted) @@ -706,15 +706,15 @@ void LogRecord::PostUpdate(const UpdateInfo &_info, this->dataPtr->LogModelResources(_ecm); } -IGNITION_ADD_PLUGIN(gz::sim::systems::LogRecord, +GZ_ADD_PLUGIN(gz::sim::systems::LogRecord, gz::sim::System, LogRecord::ISystemConfigure, LogRecord::ISystemPreUpdate, LogRecord::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(LogRecord, +GZ_ADD_PLUGIN_ALIAS(LogRecord, "gz::sim::systems::LogRecord") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LogRecord, +GZ_ADD_PLUGIN_ALIAS(LogRecord, "ignition::gazebo::systems::LogRecord") diff --git a/src/systems/log_video_recorder/LogVideoRecorder.cc b/src/systems/log_video_recorder/LogVideoRecorder.cc index ceef758be2..ff5c95644a 100644 --- a/src/systems/log_video_recorder/LogVideoRecorder.cc +++ b/src/systems/log_video_recorder/LogVideoRecorder.cc @@ -229,7 +229,7 @@ void LogVideoRecorder::Configure( void LogVideoRecorder::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("LogVideoRecorder::PostUpdate"); + GZ_PROFILE("LogVideoRecorder::PostUpdate"); // record videos for models in the specified regions. if (!this->dataPtr->regions.empty()) @@ -444,16 +444,16 @@ void LogVideoRecorderPrivate::Record(bool _record) this->node.Request(this->videoRecordService, req, cb); } -IGNITION_ADD_PLUGIN(LogVideoRecorder, +GZ_ADD_PLUGIN(LogVideoRecorder, gz::sim::System, LogVideoRecorder::ISystemConfigure, LogVideoRecorder::ISystemPostUpdate) // Add plugin alias so that we can refer to the plugin without the version // namespace -IGNITION_ADD_PLUGIN_ALIAS(LogVideoRecorder, +GZ_ADD_PLUGIN_ALIAS(LogVideoRecorder, "gz::sim::systems::LogVideoRecorder") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LogVideoRecorder, +GZ_ADD_PLUGIN_ALIAS(LogVideoRecorder, "ignition::gazebo::systems::LogVideoRecorder") diff --git a/src/systems/logical_audio_sensor_plugin/LogicalAudio.cc b/src/systems/logical_audio_sensor_plugin/LogicalAudio.cc index 2e44d5c9d4..5dce81da86 100644 --- a/src/systems/logical_audio_sensor_plugin/LogicalAudio.cc +++ b/src/systems/logical_audio_sensor_plugin/LogicalAudio.cc @@ -151,6 +151,6 @@ namespace logical_audio _volumeLevel = 1.0; } } // namespace logical_audio -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc index 3974438a43..05fa69fcf8 100644 --- a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc +++ b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc @@ -525,15 +525,15 @@ bool LogicalAudioSensorPluginPrivate::DurationExceeded( (currDuration > _sourcePlayInfo.playDuration); } -IGNITION_ADD_PLUGIN(LogicalAudioSensorPlugin, +GZ_ADD_PLUGIN(LogicalAudioSensorPlugin, gz::sim::System, LogicalAudioSensorPlugin::ISystemConfigure, LogicalAudioSensorPlugin::ISystemPreUpdate, LogicalAudioSensorPlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(LogicalAudioSensorPlugin, +GZ_ADD_PLUGIN_ALIAS(LogicalAudioSensorPlugin, "gz::sim::systems::LogicalAudioSensorPlugin") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LogicalAudioSensorPlugin, +GZ_ADD_PLUGIN_ALIAS(LogicalAudioSensorPlugin, "ignition::gazebo::systems::LogicalAudioSensorPlugin") diff --git a/src/systems/logical_camera/LogicalCamera.cc b/src/systems/logical_camera/LogicalCamera.cc index 7714a5dbc9..df42c1ca48 100644 --- a/src/systems/logical_camera/LogicalCamera.cc +++ b/src/systems/logical_camera/LogicalCamera.cc @@ -106,7 +106,7 @@ LogicalCamera::~LogicalCamera() = default; void LogicalCamera::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("LogicalCamera::PreUpdate"); + GZ_PROFILE("LogicalCamera::PreUpdate"); // Create components for (auto entity : this->dataPtr->newSensors) @@ -128,7 +128,7 @@ void LogicalCamera::PreUpdate(const UpdateInfo &/*_info*/, void LogicalCamera::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("LogicalCamera::PostUpdate"); + GZ_PROFILE("LogicalCamera::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -219,7 +219,7 @@ void LogicalCameraPrivate::AddLogicalCamera( ////////////////////////////////////////////////// void LogicalCameraPrivate::CreateSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("LogicalCameraPrivate::CreateLogicalCameraEntities"); + GZ_PROFILE("LogicalCameraPrivate::CreateLogicalCameraEntities"); if (!this->initialized) { // Create logicalCameras @@ -252,7 +252,7 @@ void LogicalCameraPrivate::CreateSensors(const EntityComponentManager &_ecm) void LogicalCameraPrivate::UpdateLogicalCameras( const EntityComponentManager &_ecm) { - IGN_PROFILE("LogicalCameraPrivate::UpdateLogicalCameras"); + GZ_PROFILE("LogicalCameraPrivate::UpdateLogicalCameras"); std::map modelPoses; _ecm.Each( @@ -296,7 +296,7 @@ void LogicalCameraPrivate::UpdateLogicalCameras( void LogicalCameraPrivate::RemoveLogicalCameraEntities( const EntityComponentManager &_ecm) { - IGN_PROFILE("LogicalCameraPrivate::RemoveLogicalCameraEntities"); + GZ_PROFILE("LogicalCameraPrivate::RemoveLogicalCameraEntities"); _ecm.EachRemoved( [&](const Entity &_entity, const components::LogicalCamera *)->bool @@ -315,14 +315,14 @@ void LogicalCameraPrivate::RemoveLogicalCameraEntities( }); } -IGNITION_ADD_PLUGIN(LogicalCamera, System, +GZ_ADD_PLUGIN(LogicalCamera, System, LogicalCamera::ISystemPreUpdate, LogicalCamera::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(LogicalCamera, +GZ_ADD_PLUGIN_ALIAS(LogicalCamera, "gz::sim::systems::LogicalCamera") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(LogicalCamera, +GZ_ADD_PLUGIN_ALIAS(LogicalCamera, "ignition::gazebo::systems::LogicalCamera") diff --git a/src/systems/magnetometer/Magnetometer.cc b/src/systems/magnetometer/Magnetometer.cc index 032afada3e..e17c351df0 100644 --- a/src/systems/magnetometer/Magnetometer.cc +++ b/src/systems/magnetometer/Magnetometer.cc @@ -105,7 +105,7 @@ Magnetometer::~Magnetometer() = default; void Magnetometer::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("Magnetometer::PreUpdate"); + GZ_PROFILE("Magnetometer::PreUpdate"); // Create components for (auto entity : this->dataPtr->newSensors) @@ -127,7 +127,7 @@ void Magnetometer::PreUpdate(const UpdateInfo &/*_info*/, void Magnetometer::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("Magnetometer::PostUpdate"); + GZ_PROFILE("Magnetometer::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -224,7 +224,7 @@ void MagnetometerPrivate::AddMagnetometer( ////////////////////////////////////////////////// void MagnetometerPrivate::CreateSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("MagnetometerPrivate::CreateMagnetometerEntities"); + GZ_PROFILE("MagnetometerPrivate::CreateMagnetometerEntities"); auto worldEntity = _ecm.EntityByComponents(components::World()); if (kNullEntity == worldEntity) { @@ -273,7 +273,7 @@ void MagnetometerPrivate::CreateSensors(const EntityComponentManager &_ecm) void MagnetometerPrivate::Update( const EntityComponentManager &_ecm) { - IGN_PROFILE("MagnetometerPrivate::Update"); + GZ_PROFILE("MagnetometerPrivate::Update"); _ecm.Each( [&](const Entity &_entity, @@ -301,7 +301,7 @@ void MagnetometerPrivate::Update( void MagnetometerPrivate::RemoveMagnetometerEntities( const EntityComponentManager &_ecm) { - IGN_PROFILE("MagnetometerPrivate::RemoveMagnetometerEntities"); + GZ_PROFILE("MagnetometerPrivate::RemoveMagnetometerEntities"); _ecm.EachRemoved( [&](const Entity &_entity, const components::Magnetometer *)->bool @@ -320,14 +320,14 @@ void MagnetometerPrivate::RemoveMagnetometerEntities( }); } -IGNITION_ADD_PLUGIN(Magnetometer, System, +GZ_ADD_PLUGIN(Magnetometer, System, Magnetometer::ISystemPreUpdate, Magnetometer::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(Magnetometer, +GZ_ADD_PLUGIN_ALIAS(Magnetometer, "gz::sim::systems::Magnetometer") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Magnetometer, +GZ_ADD_PLUGIN_ALIAS(Magnetometer, "ignition::gazebo::systems::Magnetometer") diff --git a/src/systems/mecanum_drive/MecanumDrive.cc b/src/systems/mecanum_drive/MecanumDrive.cc index 70087e517f..bb4d3f4202 100644 --- a/src/systems/mecanum_drive/MecanumDrive.cc +++ b/src/systems/mecanum_drive/MecanumDrive.cc @@ -329,7 +329,7 @@ void MecanumDrive::Configure(const Entity &_entity, void MecanumDrive::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("MecanumDrive::PreUpdate"); + GZ_PROFILE("MecanumDrive::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -495,7 +495,7 @@ void MecanumDrive::PreUpdate(const gz::sim::UpdateInfo &_info, void MecanumDrive::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("MecanumDrive::PostUpdate"); + GZ_PROFILE("MecanumDrive::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; @@ -508,7 +508,7 @@ void MecanumDrivePrivate::UpdateVelocity( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("MecanumDrive::UpdateVelocity"); + GZ_PROFILE("MecanumDrive::UpdateVelocity"); double linVel; double latVel; @@ -559,15 +559,15 @@ void MecanumDrivePrivate::OnCmdVel(const msgs::Twist &_msg) this->targetVel = _msg; } -IGNITION_ADD_PLUGIN(MecanumDrive, +GZ_ADD_PLUGIN(MecanumDrive, gz::sim::System, MecanumDrive::ISystemConfigure, MecanumDrive::ISystemPreUpdate, MecanumDrive::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(MecanumDrive, +GZ_ADD_PLUGIN_ALIAS(MecanumDrive, "gz::sim::systems::MecanumDrive") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(MecanumDrive, +GZ_ADD_PLUGIN_ALIAS(MecanumDrive, "ignition::gazebo::systems::MecanumDrive") diff --git a/src/systems/model_photo_shoot/ModelPhotoShoot.cc b/src/systems/model_photo_shoot/ModelPhotoShoot.cc index 0408093bd4..dcb66b7e26 100644 --- a/src/systems/model_photo_shoot/ModelPhotoShoot.cc +++ b/src/systems/model_photo_shoot/ModelPhotoShoot.cc @@ -247,28 +247,28 @@ void ModelPhotoShootPrivate::PerformPostRenderingOperations() pose.Pos().Set(1.6 / scaling + translation.X(), -1.6 / scaling + translation.Y(), 1.2 / scaling + translation.Z()); - pose.Rot().SetFromEuler(0, IGN_DTOR(30), IGN_DTOR(-225)); + pose.Rot().SetFromEuler(0, GZ_DTOR(30), GZ_DTOR(-225)); SavePicture(camera, pose, "1.png"); // Top view pose.Pos().Set(0 + translation.X(), 0 + translation.Y(), 2.2 / scaling + translation.Z()); - pose.Rot().SetFromEuler(0, IGN_DTOR(90), 0); + pose.Rot().SetFromEuler(0, GZ_DTOR(90), 0); SavePicture(camera, pose, "2.png"); // Front view pose.Pos().Set(2.2 / scaling + translation.X(), 0 + translation.Y(), 0 + translation.Z()); - pose.Rot().SetFromEuler(0, 0, IGN_DTOR(-180)); + pose.Rot().SetFromEuler(0, 0, GZ_DTOR(-180)); SavePicture(camera, pose, "3.png"); // Side view pose.Pos().Set(0 + translation.X(), 2.2 / scaling + translation.Y(), 0 + translation.Z()); - pose.Rot().SetFromEuler(0, 0, IGN_DTOR(-90)); + pose.Rot().SetFromEuler(0, 0, GZ_DTOR(-90)); SavePicture(camera, pose, "4.png"); // Back view @@ -306,13 +306,13 @@ void ModelPhotoShootPrivate::SavePicture( gzdbg << "Saved image to [" << _fileName << "]" << std::endl; } -IGNITION_ADD_PLUGIN(ModelPhotoShoot, gz::sim::System, +GZ_ADD_PLUGIN(ModelPhotoShoot, gz::sim::System, ModelPhotoShoot::ISystemConfigure, ModelPhotoShoot::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ModelPhotoShoot, +GZ_ADD_PLUGIN_ALIAS(ModelPhotoShoot, "gz::sim::systems::ModelPhotoShoot") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ModelPhotoShoot, +GZ_ADD_PLUGIN_ALIAS(ModelPhotoShoot, "ignition::gazebo::systems::ModelPhotoShoot") diff --git a/src/systems/multicopter_control/Common.cc b/src/systems/multicopter_control/Common.cc index 666fed0117..f736c1d2f7 100644 --- a/src/systems/multicopter_control/Common.cc +++ b/src/systems/multicopter_control/Common.cc @@ -287,6 +287,6 @@ std::optional getFrameData(const EntityComponentManager &_ecm, } } // namespace multicopter_control } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/multicopter_control/Common.hh b/src/systems/multicopter_control/Common.hh index 17393c26cf..86e8a4ad86 100644 --- a/src/systems/multicopter_control/Common.hh +++ b/src/systems/multicopter_control/Common.hh @@ -115,7 +115,7 @@ namespace multicopter_control } // namespace multicopter_control } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/multicopter_control/LeeVelocityController.cc b/src/systems/multicopter_control/LeeVelocityController.cc index 1690d760bb..c1a68728e4 100644 --- a/src/systems/multicopter_control/LeeVelocityController.cc +++ b/src/systems/multicopter_control/LeeVelocityController.cc @@ -204,6 +204,6 @@ Eigen::Vector3d LeeVelocityController::ComputeDesiredAngularAcc( } } // namespace multicopter_control } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/multicopter_control/LeeVelocityController.hh b/src/systems/multicopter_control/LeeVelocityController.hh index 954b646f32..b66b697a4a 100644 --- a/src/systems/multicopter_control/LeeVelocityController.hh +++ b/src/systems/multicopter_control/LeeVelocityController.hh @@ -108,7 +108,7 @@ namespace multicopter_control }; } // namespace multicopter_control } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/multicopter_control/MulticopterVelocityControl.cc b/src/systems/multicopter_control/MulticopterVelocityControl.cc index d9f77f56e1..8880760e29 100644 --- a/src/systems/multicopter_control/MulticopterVelocityControl.cc +++ b/src/systems/multicopter_control/MulticopterVelocityControl.cc @@ -338,7 +338,7 @@ void MulticopterVelocityControl::PreUpdate( const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("MulticopterVelocityControl::PreUpdate"); + GZ_PROFILE("MulticopterVelocityControl::PreUpdate"); if (!this->initialized) { @@ -463,16 +463,16 @@ void MulticopterVelocityControl::PublishRotorVelocities( } } -IGNITION_ADD_PLUGIN(MulticopterVelocityControl, +GZ_ADD_PLUGIN(MulticopterVelocityControl, gz::sim::System, MulticopterVelocityControl::ISystemConfigure, MulticopterVelocityControl::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS( +GZ_ADD_PLUGIN_ALIAS( MulticopterVelocityControl, "gz::sim::systems::MulticopterVelocityControl") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS( +GZ_ADD_PLUGIN_ALIAS( MulticopterVelocityControl, "ignition::gazebo::systems::MulticopterVelocityControl") diff --git a/src/systems/multicopter_control/Parameters.hh b/src/systems/multicopter_control/Parameters.hh index 2e354b1fac..719aecf23d 100644 --- a/src/systems/multicopter_control/Parameters.hh +++ b/src/systems/multicopter_control/Parameters.hh @@ -91,7 +91,7 @@ namespace multicopter_control } // namespace multicopter_control } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc index fd4c661047..7a14348301 100644 --- a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc +++ b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc @@ -373,7 +373,7 @@ void MulticopterMotorModel::Configure(const Entity &_entity, void MulticopterMotorModel::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("MulticopterMotorModel::PreUpdate"); + GZ_PROFILE("MulticopterMotorModel::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -479,7 +479,7 @@ void MulticopterMotorModelPrivate::OnActuatorMsg( void MulticopterMotorModelPrivate::UpdateForcesAndMoments( EntityComponentManager &_ecm) { - IGN_PROFILE("MulticopterMotorModelPrivate::UpdateForcesAndMoments"); + GZ_PROFILE("MulticopterMotorModelPrivate::UpdateForcesAndMoments"); std::optional msg; auto actuatorMsgComp = @@ -543,7 +543,7 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments( const auto jointVelocity = _ecm.Component( this->jointEntity); double motorRotVel = jointVelocity->Data()[0]; - if (motorRotVel / (2 * IGN_PI) > 1 / (2 * this->samplingTime)) + if (motorRotVel / (2 * GZ_PI) > 1 / (2 * this->samplingTime)) { gzerr << "Aliasing on motor [" << this->motorNumber << "] might occur. Consider making smaller simulation time " @@ -671,14 +671,14 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments( } } -IGNITION_ADD_PLUGIN(MulticopterMotorModel, +GZ_ADD_PLUGIN(MulticopterMotorModel, gz::sim::System, MulticopterMotorModel::ISystemConfigure, MulticopterMotorModel::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(MulticopterMotorModel, +GZ_ADD_PLUGIN_ALIAS(MulticopterMotorModel, "gz::sim::systems::MulticopterMotorModel") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(MulticopterMotorModel, +GZ_ADD_PLUGIN_ALIAS(MulticopterMotorModel, "ignition::gazebo::systems::MulticopterMotorModel") diff --git a/src/systems/navsat/NavSat.cc b/src/systems/navsat/NavSat.cc index 1b52d0cc60..c42535ae83 100644 --- a/src/systems/navsat/NavSat.cc +++ b/src/systems/navsat/NavSat.cc @@ -100,7 +100,7 @@ NavSat::NavSat() : System(), dataPtr(utils::MakeUniqueImpl()) void NavSat::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &_ecm) { - IGN_PROFILE("NavSat::PreUpdate"); + GZ_PROFILE("NavSat::PreUpdate"); // Create components for (auto entity : this->dataPtr->newSensors) @@ -122,7 +122,7 @@ void NavSat::PreUpdate(const UpdateInfo &/*_info*/, void NavSat::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("NavSat::PostUpdate"); + GZ_PROFILE("NavSat::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -206,7 +206,7 @@ void NavSat::Implementation::AddSensor( ////////////////////////////////////////////////// void NavSat::Implementation::CreateSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("NavSat::CreateSensors"); + GZ_PROFILE("NavSat::CreateSensors"); if (!this->initialized) { _ecm.Each( @@ -235,7 +235,7 @@ void NavSat::Implementation::CreateSensors(const EntityComponentManager &_ecm) ////////////////////////////////////////////////// void NavSat::Implementation::Update(const EntityComponentManager &_ecm) { - IGN_PROFILE("NavSat::Update"); + GZ_PROFILE("NavSat::Update"); _ecm.Each( [&](const Entity &_entity, @@ -261,8 +261,8 @@ void NavSat::Implementation::Update(const EntityComponentManager &_ecm) return true; } - it->second->SetLatitude(IGN_DTOR(latLonEle.value().X())); - it->second->SetLongitude(IGN_DTOR(latLonEle.value().Y())); + it->second->SetLatitude(GZ_DTOR(latLonEle.value().X())); + it->second->SetLongitude(GZ_DTOR(latLonEle.value().Y())); it->second->SetAltitude(latLonEle.value().Z()); // Velocity in ENU frame @@ -275,7 +275,7 @@ void NavSat::Implementation::Update(const EntityComponentManager &_ecm) ////////////////////////////////////////////////// void NavSat::Implementation::RemoveSensors(const EntityComponentManager &_ecm) { - IGN_PROFILE("NavSat::RemoveSensors"); + GZ_PROFILE("NavSat::RemoveSensors"); _ecm.EachRemoved( [&](const Entity &_entity, const components::NavSat *)->bool @@ -294,12 +294,12 @@ void NavSat::Implementation::RemoveSensors(const EntityComponentManager &_ecm) }); } -IGNITION_ADD_PLUGIN(NavSat, System, +GZ_ADD_PLUGIN(NavSat, System, NavSat::ISystemPreUpdate, NavSat::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(NavSat, "gz::sim::systems::NavSat") +GZ_ADD_PLUGIN_ALIAS(NavSat, "gz::sim::systems::NavSat") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(NavSat, "ignition::gazebo::systems::NavSat") +GZ_ADD_PLUGIN_ALIAS(NavSat, "ignition::gazebo::systems::NavSat") diff --git a/src/systems/navsat/NavSat.hh b/src/systems/navsat/NavSat.hh index d7b48dc7b8..5f9008c3d3 100644 --- a/src/systems/navsat/NavSat.hh +++ b/src/systems/navsat/NavSat.hh @@ -56,7 +56,7 @@ namespace systems const EntityComponentManager &_ecm) final; /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc index 453ff9e4b1..150791271f 100644 --- a/src/systems/odometry_publisher/OdometryPublisher.cc +++ b/src/systems/odometry_publisher/OdometryPublisher.cc @@ -250,7 +250,7 @@ void OdometryPublisher::Configure(const Entity &_entity, void OdometryPublisher::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("OdometryPublisher::PreUpdate"); + GZ_PROFILE("OdometryPublisher::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -274,7 +274,7 @@ void OdometryPublisher::PreUpdate(const gz::sim::UpdateInfo &_info, void OdometryPublisher::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("OdometryPublisher::PostUpdate"); + GZ_PROFILE("OdometryPublisher::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; @@ -287,7 +287,7 @@ void OdometryPublisherPrivate::UpdateOdometry( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("OdometryPublisher::UpdateOdometry"); + GZ_PROFILE("OdometryPublisher::UpdateOdometry"); // Record start time. if (!this->initialized) { @@ -323,8 +323,8 @@ void OdometryPublisherPrivate::UpdateOdometry( double currentYaw = pose.Rot().Yaw(); const double lastYaw = this->lastUpdatePose.Rot().Yaw(); - while (currentYaw < lastYaw - IGN_PI) currentYaw += 2 * IGN_PI; - while (currentYaw > lastYaw + IGN_PI) currentYaw -= 2 * IGN_PI; + while (currentYaw < lastYaw - GZ_PI) currentYaw += 2 * GZ_PI; + while (currentYaw > lastYaw + GZ_PI) currentYaw -= 2 * GZ_PI; const float yawDiff = currentYaw - lastYaw; // Get velocities assuming 2D @@ -355,14 +355,14 @@ void OdometryPublisherPrivate::UpdateOdometry( { double currentRoll = pose.Rot().Roll(); const double lastRoll = this->lastUpdatePose.Rot().Roll(); - while (currentRoll < lastRoll - IGN_PI) currentRoll += 2 * IGN_PI; - while (currentRoll > lastRoll + IGN_PI) currentRoll -= 2 * IGN_PI; + while (currentRoll < lastRoll - GZ_PI) currentRoll += 2 * GZ_PI; + while (currentRoll > lastRoll + GZ_PI) currentRoll -= 2 * GZ_PI; const float rollDiff = currentRoll - lastRoll; double currentPitch = pose.Rot().Pitch(); const double lastPitch = this->lastUpdatePose.Rot().Pitch(); - while (currentPitch < lastPitch - IGN_PI) currentPitch += 2 * IGN_PI; - while (currentPitch > lastPitch + IGN_PI) currentPitch -= 2 * IGN_PI; + while (currentPitch < lastPitch - GZ_PI) currentPitch += 2 * GZ_PI; + while (currentPitch > lastPitch + GZ_PI) currentPitch -= 2 * GZ_PI; const float pitchDiff = currentPitch - lastPitch; double linearDisplacementZ = @@ -491,15 +491,15 @@ void OdometryPublisherPrivate::UpdateOdometry( } } -IGNITION_ADD_PLUGIN(OdometryPublisher, +GZ_ADD_PLUGIN(OdometryPublisher, gz::sim::System, OdometryPublisher::ISystemConfigure, OdometryPublisher::ISystemPreUpdate, OdometryPublisher::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(OdometryPublisher, +GZ_ADD_PLUGIN_ALIAS(OdometryPublisher, "gz::sim::systems::OdometryPublisher") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(OdometryPublisher, +GZ_ADD_PLUGIN_ALIAS(OdometryPublisher, "ignition::gazebo::systems::OdometryPublisher") diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 1bd87b6249..728c844f5a 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -365,7 +365,7 @@ void OpticalTactilePlugin::Configure(const Entity &_entity, void OpticalTactilePlugin::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("OpticalTactilePlugin::PreUpdate"); + GZ_PROFILE("OpticalTactilePlugin::PreUpdate"); // Nothing left to do if paused if (_info.paused || !this->dataPtr->enabled) @@ -415,7 +415,7 @@ void OpticalTactilePlugin::PostUpdate( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("OpticalTactilePlugin::PostUpdate"); + GZ_PROFILE("OpticalTactilePlugin::PostUpdate"); // Nothing left to do if paused or failed to initialize. if (_info.paused || !this->dataPtr->initialized || !this->dataPtr->enabled) @@ -672,7 +672,7 @@ void OpticalTactilePluginPrivate::DepthCameraCallback( gz::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( const uint64_t &_i, const uint64_t &_j, const char *_msgBuffer) { - IGN_PROFILE("OpticalTactilePlugin::MapPointCloudData"); + GZ_PROFILE("OpticalTactilePlugin::MapPointCloudData"); // Initialize return variable gz::math::Vector3f measuredPoint(0, 0, 0); @@ -718,7 +718,7 @@ gz::math::Vector3f OpticalTactilePluginPrivate::MapPointCloudData( bool OpticalTactilePluginPrivate::PointInsideSensor( gz::math::Vector3f _point) { - IGN_PROFILE("OpticalTactilePlugin::PointInsideSensor"); + GZ_PROFILE("OpticalTactilePlugin::PointInsideSensor"); // Nothing left to do if failed to initialize. if (!this->initialized) @@ -748,7 +748,7 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( const gz::msgs::PointCloudPacked &_msg, const bool _visualizeForces) { - IGN_PROFILE("OpticalTactilePlugin::ComputeNormalForces"); + GZ_PROFILE("OpticalTactilePlugin::ComputeNormalForces"); // Nothing left to do if failed to initialize. if (!this->initialized) @@ -832,15 +832,15 @@ void OpticalTactilePluginPrivate::ComputeNormalForces( } } -IGNITION_ADD_PLUGIN(OpticalTactilePlugin, +GZ_ADD_PLUGIN(OpticalTactilePlugin, gz::sim::System, OpticalTactilePlugin::ISystemConfigure, OpticalTactilePlugin::ISystemPreUpdate, OpticalTactilePlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, +GZ_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, "gz::sim::systems::OpticalTactilePlugin") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, +GZ_ADD_PLUGIN_ALIAS(OpticalTactilePlugin, "ignition::gazebo::systems::OpticalTactilePlugin") diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh index 80cb1e71ba..3ffe1e2eec 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh @@ -118,7 +118,7 @@ namespace systems private: std::unique_ptr dataPtr; }; } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/optical_tactile_plugin/Visualization.hh b/src/systems/optical_tactile_plugin/Visualization.hh index ef6711f309..c692344bc3 100644 --- a/src/systems/optical_tactile_plugin/Visualization.hh +++ b/src/systems/optical_tactile_plugin/Visualization.hh @@ -162,7 +162,7 @@ namespace optical_tactile_sensor }; } // namespace optical_tactile_sensor } // namespace systems -} // namespace IGNITION_GAZEBO_VERSION_NAMESPACE +} // namespace GZ_SIM_VERSION_NAMESPACE } // namespace sim } // namespace gz diff --git a/src/systems/particle_emitter/ParticleEmitter.cc b/src/systems/particle_emitter/ParticleEmitter.cc index fadcaf8644..8c65bc3a23 100644 --- a/src/systems/particle_emitter/ParticleEmitter.cc +++ b/src/systems/particle_emitter/ParticleEmitter.cc @@ -138,7 +138,7 @@ void ParticleEmitter::Configure(const Entity &_entity, void ParticleEmitter::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("ParticleEmitter::PreUpdate"); + GZ_PROFILE("ParticleEmitter::PreUpdate"); std::lock_guard lock(this->dataPtr->mutex); @@ -246,14 +246,14 @@ void ParticleEmitter::PreUpdate(const gz::sim::UpdateInfo &_info, this->dataPtr->userCmd.clear(); } -IGNITION_ADD_PLUGIN(ParticleEmitter, +GZ_ADD_PLUGIN(ParticleEmitter, gz::sim::System, ParticleEmitter::ISystemConfigure, ParticleEmitter::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ParticleEmitter, +GZ_ADD_PLUGIN_ALIAS(ParticleEmitter, "gz::sim::systems::ParticleEmitter") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ParticleEmitter, +GZ_ADD_PLUGIN_ALIAS(ParticleEmitter, "ignition::gazebo::systems::ParticleEmitter") diff --git a/src/systems/particle_emitter2/ParticleEmitter2.cc b/src/systems/particle_emitter2/ParticleEmitter2.cc index da5577e2c3..1dfd1d69d9 100644 --- a/src/systems/particle_emitter2/ParticleEmitter2.cc +++ b/src/systems/particle_emitter2/ParticleEmitter2.cc @@ -138,7 +138,7 @@ void ParticleEmitter2::Configure(const Entity &_entity, void ParticleEmitter2::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("ParticleEmitter2::PreUpdate"); + GZ_PROFILE("ParticleEmitter2::PreUpdate"); std::lock_guard lock(this->dataPtr->mutex); @@ -246,14 +246,14 @@ void ParticleEmitter2::PreUpdate(const gz::sim::UpdateInfo &_info, this->dataPtr->userCmd.clear(); } -IGNITION_ADD_PLUGIN(ParticleEmitter2, +GZ_ADD_PLUGIN(ParticleEmitter2, gz::sim::System, ParticleEmitter2::ISystemConfigure, ParticleEmitter2::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ParticleEmitter2, +GZ_ADD_PLUGIN_ALIAS(ParticleEmitter2, "gz::sim::systems::ParticleEmitter2") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ParticleEmitter2, +GZ_ADD_PLUGIN_ALIAS(ParticleEmitter2, "ignition::gazebo::systems::ParticleEmitter2") diff --git a/src/systems/perfect_comms/PerfectComms.cc b/src/systems/perfect_comms/PerfectComms.cc index ee226d1b0c..f706fdd9bc 100644 --- a/src/systems/perfect_comms/PerfectComms.cc +++ b/src/systems/perfect_comms/PerfectComms.cc @@ -106,14 +106,14 @@ void PerfectComms::Step( } } -IGNITION_ADD_PLUGIN(PerfectComms, +GZ_ADD_PLUGIN(PerfectComms, gz::sim::System, comms::ICommsModel::ISystemConfigure, comms::ICommsModel::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(PerfectComms, +GZ_ADD_PLUGIN_ALIAS(PerfectComms, "gz::sim::systems::PerfectComms") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(PerfectComms, +GZ_ADD_PLUGIN_ALIAS(PerfectComms, "ignition::gazebo::systems::PerfectComms") diff --git a/src/systems/perfect_comms/PerfectComms.hh b/src/systems/perfect_comms/PerfectComms.hh index be936d0137..3b824f5b80 100644 --- a/src/systems/perfect_comms/PerfectComms.hh +++ b/src/systems/perfect_comms/PerfectComms.hh @@ -56,7 +56,7 @@ namespace systems EntityComponentManager &_ecm) override; /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/src/systems/performer_detector/PerformerDetector.cc b/src/systems/performer_detector/PerformerDetector.cc index 0349581774..f985e12ae4 100644 --- a/src/systems/performer_detector/PerformerDetector.cc +++ b/src/systems/performer_detector/PerformerDetector.cc @@ -133,7 +133,7 @@ void PerformerDetector::PostUpdate( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("PerformerDetector::PostUpdate"); + GZ_PROFILE("PerformerDetector::PostUpdate"); if (this->initialized && !this->model.Valid(_ecm)) { @@ -259,14 +259,14 @@ void PerformerDetector::Publish( this->pub.Publish(msg); } -IGNITION_ADD_PLUGIN(PerformerDetector, +GZ_ADD_PLUGIN(PerformerDetector, gz::sim::System, PerformerDetector::ISystemConfigure, PerformerDetector::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(PerformerDetector, +GZ_ADD_PLUGIN_ALIAS(PerformerDetector, "gz::sim::systems::PerformerDetector") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(PerformerDetector, +GZ_ADD_PLUGIN_ALIAS(PerformerDetector, "ignition::gazebo::systems::PerformerDetector") diff --git a/src/systems/physics/EntityFeatureMap_TEST.cc b/src/systems/physics/EntityFeatureMap_TEST.cc index b3e5f9223d..f03a30db0a 100644 --- a/src/systems/physics/EntityFeatureMap_TEST.cc +++ b/src/systems/physics/EntityFeatureMap_TEST.cc @@ -95,7 +95,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test> // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(EntityFeatureMapFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(AddCastRemoveEntity)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(AddCastRemoveEntity)) { struct TestOptionalFeatures1 : physics::FeatureList diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index 6788de8005..414e4c0c29 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -878,7 +878,7 @@ Physics::~Physics() = default; ////////////////////////////////////////////////// void Physics::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("Physics::Update"); + GZ_PROFILE("Physics::Update"); if (this->dataPtr->engine) { @@ -903,7 +903,7 @@ void Physics::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) ////////////////////////////////////////////////// void Physics::Reset(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("Physics::Reset"); + GZ_PROFILE("Physics::Reset"); if (this->dataPtr->engine) { @@ -1845,7 +1845,7 @@ void PhysicsPrivate::RemovePhysicsEntities(const EntityComponentManager &_ecm) ////////////////////////////////////////////////// void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm) { - IGN_PROFILE("PhysicsPrivate::UpdatePhysics"); + GZ_PROFILE("PhysicsPrivate::UpdatePhysics"); // Battery state _ecm.Each( [&](const Entity & _entity, const components::BatterySoC *_bat) @@ -2511,7 +2511,7 @@ void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm) ////////////////////////////////////////////////// void PhysicsPrivate::ResetPhysics(EntityComponentManager &_ecm) { - IGN_PROFILE("PhysicsPrivate::ResetPhysics"); + GZ_PROFILE("PhysicsPrivate::ResetPhysics"); // Clear worldPoseCmdsToRemove because pose commands that were issued before // the reset will be ignored. this->linkWorldPoses.clear(); @@ -2637,7 +2637,7 @@ void PhysicsPrivate::ResetPhysics(EntityComponentManager &_ecm) gz::physics::ForwardStep::Output PhysicsPrivate::Step( const std::chrono::steady_clock::duration &_dt) { - IGN_PROFILE("PhysicsPrivate::Step"); + GZ_PROFILE("PhysicsPrivate::Step"); gz::physics::ForwardStep::Input input; gz::physics::ForwardStep::State state; gz::physics::ForwardStep::Output output; @@ -2693,7 +2693,7 @@ std::map PhysicsPrivate::ChangedLinks( EntityComponentManager &_ecm, const gz::physics::ForwardStep::Output &_updatedLinks) { - IGN_PROFILE("Links Frame Data"); + GZ_PROFILE("Links Frame Data"); std::map linkFrameData; @@ -2912,7 +2912,7 @@ bool PhysicsPrivate::GetFrameDataRelativeToWorld(const Entity _entity, void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, std::map &_linkFrameData) { - IGN_PROFILE("PhysicsPrivate::UpdateSim"); + GZ_PROFILE("PhysicsPrivate::UpdateSim"); // Populate world components with default values _ecm.EachNew( @@ -2950,7 +2950,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, return true; }); - IGN_PROFILE_BEGIN("Models"); + GZ_PROFILE_BEGIN("Models"); // make sure we have an up-to-date mapping of canonical links to their models this->canonicalLinkModelTracker.AddNewModels(_ecm); @@ -2977,13 +2977,13 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, for (auto &modelEnt : canonicalLinkModels) this->UpdateModelPose(modelEnt, linkEntity, _ecm, _linkFrameData); } - IGN_PROFILE_END(); + GZ_PROFILE_END(); // Link poses, velocities... - IGN_PROFILE_BEGIN("Links"); + GZ_PROFILE_BEGIN("Links"); for (const auto &[entity, frameData] : _linkFrameData) { - IGN_PROFILE_BEGIN("Local pose"); + GZ_PROFILE_BEGIN("Local pose"); auto canonicalLink = _ecm.Component(entity); @@ -3011,7 +3011,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, _ecm.SetChanged(entity, components::Pose::typeId, ComponentState::PeriodicChange); } - IGN_PROFILE_END(); + GZ_PROFILE_END(); // Populate world poses, velocities and accelerations of the link. For // now these components are updated only if another system has created @@ -3145,7 +3145,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, state); } } - IGN_PROFILE_END(); + GZ_PROFILE_END(); // pose/velocity/acceleration of non-link entities such as sensors / // collisions. These get updated only if another system has created @@ -3156,7 +3156,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, // * AngularVelocity // * LinearAcceleration - IGN_PROFILE_BEGIN("Sensors / collisions"); + GZ_PROFILE_BEGIN("Sensors / collisions"); // world pose _ecm.Each( @@ -3249,10 +3249,10 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, return true; }); - IGN_PROFILE_END(); + GZ_PROFILE_END(); // Clear reset components - IGN_PROFILE_BEGIN("Clear / reset components"); + GZ_PROFILE_BEGIN("Clear / reset components"); std::vector entitiesPositionReset; _ecm.Each( [&](const Entity &_entity, components::JointPositionReset *) -> bool @@ -3342,7 +3342,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, std::fill(_slip->Data().begin(), _slip->Data().end(), 0.0); return true; }); - IGN_PROFILE_END(); + GZ_PROFILE_END(); _ecm.Each( [&](const Entity &, components::AngularVelocityCmd *_vel) -> bool @@ -3359,7 +3359,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, }); // Update joint positions - IGN_PROFILE_BEGIN("Joints"); + GZ_PROFILE_BEGIN("Joints"); _ecm.Each( [&](const Entity &_entity, components::Joint *, components::JointPosition *_jointPos) -> bool @@ -3393,7 +3393,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, } return true; }); - IGN_PROFILE_END(); + GZ_PROFILE_END(); // Update joint transmitteds _ecm.Each( @@ -3442,7 +3442,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, ////////////////////////////////////////////////// void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm) { - IGN_PROFILE("PhysicsPrivate::UpdateCollisions"); + GZ_PROFILE("PhysicsPrivate::UpdateCollisions"); // Quit early if the ContactData component hasn't been created. This means // there are no systems that need contact information if (!_ecm.HasComponentType(components::ContactSensorData::typeId)) @@ -3668,13 +3668,13 @@ void PhysicsPrivate::DisableContactSurfaceCustomization(const Entity &_world) << _world << "]" << std::endl; } -IGNITION_ADD_PLUGIN(Physics, +GZ_ADD_PLUGIN(Physics, gz::sim::System, Physics::ISystemConfigure, Physics::ISystemReset, Physics::ISystemUpdate) -IGNITION_ADD_PLUGIN_ALIAS(Physics, "gz::sim::systems::Physics") +GZ_ADD_PLUGIN_ALIAS(Physics, "gz::sim::systems::Physics") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Physics, "ignition::gazebo::systems::Physics") +GZ_ADD_PLUGIN_ALIAS(Physics, "ignition::gazebo::systems::Physics") diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc index a44620559a..120a17fbd7 100644 --- a/src/systems/pose_publisher/PosePublisher.cc +++ b/src/systems/pose_publisher/PosePublisher.cc @@ -289,7 +289,7 @@ void PosePublisher::Configure(const Entity &_entity, void PosePublisher::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("PosePublisher::PostUpdate"); + GZ_PROFILE("PosePublisher::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -505,7 +505,7 @@ void PosePublisherPrivate::InitializeEntitiesToPublish( void PosePublisherPrivate::FillPoses(const EntityComponentManager &_ecm, std::vector> &_poses, bool _static) { - IGN_PROFILE("PosePublisher::FillPose"); + GZ_PROFILE("PosePublisher::FillPose"); for (const auto &entity : this->entitiesToPublish) { @@ -527,7 +527,7 @@ void PosePublisherPrivate::PublishPoses( const msgs::Time &_stampMsg, transport::Node::Publisher &_publisher) { - IGN_PROFILE("PosePublisher::PublishPoses"); + GZ_PROFILE("PosePublisher::PublishPoses"); // publish poses gz::msgs::Pose *msg = nullptr; @@ -554,7 +554,7 @@ void PosePublisherPrivate::PublishPoses( // frame_id: parent entity name // child_frame_id = entity name // pose is the transform from frame_id to child_frame_id - IGN_ASSERT(msg != nullptr, "Pose msg is null"); + GZ_ASSERT(msg != nullptr, "Pose msg is null"); auto header = msg->mutable_header(); header->mutable_stamp()->CopyFrom(_stampMsg); @@ -582,14 +582,14 @@ void PosePublisherPrivate::PublishPoses( _publisher.Publish(this->poseVMsg); } -IGNITION_ADD_PLUGIN(PosePublisher, +GZ_ADD_PLUGIN(PosePublisher, System, PosePublisher::ISystemConfigure, PosePublisher::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(PosePublisher, +GZ_ADD_PLUGIN_ALIAS(PosePublisher, "gz::sim::systems::PosePublisher") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(PosePublisher, +GZ_ADD_PLUGIN_ALIAS(PosePublisher, "ignition::gazebo::systems::PosePublisher") diff --git a/src/systems/rf_comms/RFComms.cc b/src/systems/rf_comms/RFComms.cc index ce2a2841f2..be4c7682d5 100644 --- a/src/systems/rf_comms/RFComms.cc +++ b/src/systems/rf_comms/RFComms.cc @@ -469,14 +469,14 @@ void RFComms::Step( } } -IGNITION_ADD_PLUGIN(RFComms, +GZ_ADD_PLUGIN(RFComms, gz::sim::System, comms::ICommsModel::ISystemConfigure, comms::ICommsModel::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(RFComms, +GZ_ADD_PLUGIN_ALIAS(RFComms, "gz::sim::systems::RFComms") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(RFComms, +GZ_ADD_PLUGIN_ALIAS(RFComms, "ignition::gazebo::systems::RFComms") diff --git a/src/systems/rf_comms/RFComms.hh b/src/systems/rf_comms/RFComms.hh index 7aae54d36f..51250c69a4 100644 --- a/src/systems/rf_comms/RFComms.hh +++ b/src/systems/rf_comms/RFComms.hh @@ -101,7 +101,7 @@ namespace systems EntityComponentManager &_ecm) override; /// \brief Private data pointer. - IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } } diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc index 2259777cfa..a19573daf3 100644 --- a/src/systems/scene_broadcaster/SceneBroadcaster.cc +++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc @@ -302,7 +302,7 @@ void SceneBroadcaster::Configure( void SceneBroadcaster::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_manager) { - IGN_PROFILE("SceneBroadcaster::PostUpdate"); + GZ_PROFILE("SceneBroadcaster::PostUpdate"); // Update scene graph with added entities before populating pose message if (_manager.HasNewEntities()) @@ -364,7 +364,7 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info, // Otherwise publish just periodic change components when running else if (!_info.paused) { - IGN_PROFILE("SceneBroadcast::PostUpdate UpdateState"); + GZ_PROFILE("SceneBroadcast::PostUpdate UpdateState"); auto periodicComponents = _manager.ComponentTypesWithPeriodicChanges(); _manager.State(*this->dataPtr->stepMsg.mutable_state(), {}, periodicComponents); @@ -392,7 +392,7 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info, // changed components if (shouldPublish) { - IGN_PROFILE("SceneBroadcast::PostUpdate Publish State"); + GZ_PROFILE("SceneBroadcast::PostUpdate Publish State"); this->dataPtr->statePub.Publish(this->dataPtr->stepMsg); this->dataPtr->lastStatePubTime = now; } @@ -403,7 +403,7 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info, void SceneBroadcasterPrivate::PoseUpdate(const UpdateInfo &_info, const EntityComponentManager &_manager) { - IGN_PROFILE("SceneBroadcast::PoseUpdate"); + GZ_PROFILE("SceneBroadcast::PoseUpdate"); msgs::Pose_V poseMsg, dyPoseMsg; bool dyPoseConnections = this->dyPosePub.HasConnections(); @@ -1198,16 +1198,16 @@ void SceneBroadcasterPrivate::RemoveFromGraph(const Entity _entity, } -IGNITION_ADD_PLUGIN(SceneBroadcaster, +GZ_ADD_PLUGIN(SceneBroadcaster, gz::sim::System, SceneBroadcaster::ISystemConfigure, SceneBroadcaster::ISystemPostUpdate) // Add plugin alias so that we can refer to the plugin without the version // namespace -IGNITION_ADD_PLUGIN_ALIAS(SceneBroadcaster, +GZ_ADD_PLUGIN_ALIAS(SceneBroadcaster, "gz::sim::systems::SceneBroadcaster") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(SceneBroadcaster, +GZ_ADD_PLUGIN_ALIAS(SceneBroadcaster, "ignition::gazebo::systems::SceneBroadcaster") diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 6bc5fe0afa..9ad21e8f52 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -278,9 +278,9 @@ void SensorsPrivate::RunOnce() if (!this->scene) return; - IGN_PROFILE("SensorsPrivate::RunOnce"); + GZ_PROFILE("SensorsPrivate::RunOnce"); { - IGN_PROFILE("Update"); + GZ_PROFILE("Update"); this->renderUtil.Update(); } @@ -323,7 +323,7 @@ void SensorsPrivate::RunOnce() this->sensorMaskMutex.unlock(); { - IGN_PROFILE("PreRender"); + GZ_PROFILE("PreRender"); this->eventManager->Emit(); this->scene->SetTime(this->updateTime); // Update the scene graph manually to improve performance @@ -351,7 +351,7 @@ void SensorsPrivate::RunOnce() { // publish data - IGN_PROFILE("RunOnce"); + GZ_PROFILE("RunOnce"); this->sensorManager.RunOnce(this->updateTime); this->eventManager->Emit(); } @@ -363,7 +363,7 @@ void SensorsPrivate::RunOnce() } { - IGN_PROFILE("PostRender"); + GZ_PROFILE("PostRender"); // Update the scene graph manually to improve performance // We only need to do this once per frame It is important to call // sensors::RenderingSensor::SetManualSceneUpdate and set it to true @@ -384,7 +384,7 @@ void SensorsPrivate::RunOnce() ////////////////////////////////////////////////// void SensorsPrivate::RenderThread() { - IGN_PROFILE_THREAD_NAME("RenderThread"); + GZ_PROFILE_THREAD_NAME("RenderThread"); gzdbg << "SensorsPrivate::RenderThread started" << std::endl; @@ -568,7 +568,7 @@ void Sensors::Configure(const Entity &/*_id*/, void Sensors::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("Sensors::Update"); + GZ_PROFILE("Sensors::Update"); std::unique_lock lock(this->dataPtr->renderMutex); if (this->dataPtr->running && this->dataPtr->initialized) { @@ -580,7 +580,7 @@ void Sensors::Update(const UpdateInfo &_info, void Sensors::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("Sensors::PostUpdate"); + GZ_PROFILE("Sensors::PostUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -906,13 +906,13 @@ bool SensorsPrivate::HasConnections(sensors::RenderingSensor *_sensor) const return true; } -IGNITION_ADD_PLUGIN(Sensors, System, +GZ_ADD_PLUGIN(Sensors, System, Sensors::ISystemConfigure, Sensors::ISystemUpdate, Sensors::ISystemPostUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(Sensors, "gz::sim::systems::Sensors") +GZ_ADD_PLUGIN_ALIAS(Sensors, "gz::sim::systems::Sensors") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Sensors, "ignition::gazebo::systems::Sensors") +GZ_ADD_PLUGIN_ALIAS(Sensors, "ignition::gazebo::systems::Sensors") diff --git a/src/systems/shader_param/ShaderParam.cc b/src/systems/shader_param/ShaderParam.cc index bec3f0c333..5f0788a0c1 100644 --- a/src/systems/shader_param/ShaderParam.cc +++ b/src/systems/shader_param/ShaderParam.cc @@ -136,7 +136,7 @@ void ShaderParam::Configure(const Entity &_entity, EntityComponentManager &_ecm, EventManager &_eventMgr) { - IGN_PROFILE("ShaderParam::Configure"); + GZ_PROFILE("ShaderParam::Configure"); // Ugly, but needed because the sdf::Element::GetElement is not a const // function and _sdf is a const shared pointer to a const sdf::Element. auto sdf = const_cast(_sdf.get()); @@ -252,7 +252,7 @@ void ShaderParam::PreUpdate( const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &) { - IGN_PROFILE("ShaderParam::PreUpdate"); + GZ_PROFILE("ShaderParam::PreUpdate"); std::lock_guard lock(this->dataPtr->mutex); this->dataPtr->currentSimTime = _info.simTime; } @@ -485,14 +485,14 @@ void ShaderParamPrivate::OnUpdate() } } -IGNITION_ADD_PLUGIN(ShaderParam, +GZ_ADD_PLUGIN(ShaderParam, gz::sim::System, ShaderParam::ISystemConfigure, ShaderParam::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ShaderParam, +GZ_ADD_PLUGIN_ALIAS(ShaderParam, "gz::sim::systems::ShaderParam") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ShaderParam, +GZ_ADD_PLUGIN_ALIAS(ShaderParam, "ignition::gazebo::systems::ShaderParam") diff --git a/src/systems/thermal/Thermal.cc b/src/systems/thermal/Thermal.cc index 19e03a635f..ee06b15b17 100644 --- a/src/systems/thermal/Thermal.cc +++ b/src/systems/thermal/Thermal.cc @@ -131,11 +131,11 @@ void Thermal::Configure(const Entity &_entity, } -IGNITION_ADD_PLUGIN(Thermal, System, +GZ_ADD_PLUGIN(Thermal, System, Thermal::ISystemConfigure ) -IGNITION_ADD_PLUGIN_ALIAS(Thermal, "gz::sim::systems::Thermal") +GZ_ADD_PLUGIN_ALIAS(Thermal, "gz::sim::systems::Thermal") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Thermal, "ignition::gazebo::systems::Thermal") +GZ_ADD_PLUGIN_ALIAS(Thermal, "ignition::gazebo::systems::Thermal") diff --git a/src/systems/thermal/ThermalSensor.cc b/src/systems/thermal/ThermalSensor.cc index ba6354cbe5..59aa0607b8 100644 --- a/src/systems/thermal/ThermalSensor.cc +++ b/src/systems/thermal/ThermalSensor.cc @@ -85,13 +85,13 @@ void ThermalSensor::Configure(const Entity &_entity, } } -IGNITION_ADD_PLUGIN(ThermalSensor, System, +GZ_ADD_PLUGIN(ThermalSensor, System, ThermalSensor::ISystemConfigure ) -IGNITION_ADD_PLUGIN_ALIAS(ThermalSensor, +GZ_ADD_PLUGIN_ALIAS(ThermalSensor, "gz::sim::systems::ThermalSensor") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(ThermalSensor, +GZ_ADD_PLUGIN_ALIAS(ThermalSensor, "ignition::gazebo::systems::ThermalSensor") diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc index f589379175..d048c27b25 100644 --- a/src/systems/thruster/Thruster.cc +++ b/src/systems/thruster/Thruster.cc @@ -510,13 +510,13 @@ void Thruster::PostUpdate(const UpdateInfo &/*unused*/, this->dataPtr->enabled = this->dataPtr->HasSufficientBattery(_ecm); } -IGNITION_ADD_PLUGIN( +GZ_ADD_PLUGIN( Thruster, System, Thruster::ISystemConfigure, Thruster::ISystemPreUpdate, Thruster::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(Thruster, "gz::sim::systems::Thruster") +GZ_ADD_PLUGIN_ALIAS(Thruster, "gz::sim::systems::Thruster") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(Thruster, "ignition::gazebo::systems::Thruster") +GZ_ADD_PLUGIN_ALIAS(Thruster, "ignition::gazebo::systems::Thruster") diff --git a/src/systems/touch_plugin/TouchPlugin.cc b/src/systems/touch_plugin/TouchPlugin.cc index 44df38377d..041c3cec32 100644 --- a/src/systems/touch_plugin/TouchPlugin.cc +++ b/src/systems/touch_plugin/TouchPlugin.cc @@ -234,7 +234,7 @@ TouchPlugin::TouchPlugin() void TouchPluginPrivate::Update(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("TouchPluginPrivate::Update"); + GZ_PROFILE("TouchPluginPrivate::Update"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -372,7 +372,7 @@ void TouchPlugin::Configure(const Entity &_entity, ////////////////////////////////////////////////// void TouchPlugin::PreUpdate(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("TouchPlugin::PreUpdate"); + GZ_PROFILE("TouchPlugin::PreUpdate"); if (!this->dataPtr->initialized) { // We call Load here instead of Configure because we can't be guaranteed @@ -401,20 +401,20 @@ void TouchPlugin::PreUpdate(const UpdateInfo &, EntityComponentManager &_ecm) void TouchPlugin::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("TouchPlugin::PostUpdate"); + GZ_PROFILE("TouchPlugin::PostUpdate"); if (this->dataPtr->validConfig) { this->dataPtr->Update(_info, _ecm); } } -IGNITION_ADD_PLUGIN(TouchPlugin, +GZ_ADD_PLUGIN(TouchPlugin, gz::sim::System, TouchPlugin::ISystemConfigure, TouchPlugin::ISystemPreUpdate, TouchPlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(TouchPlugin, "gz::sim::systems::TouchPlugin") +GZ_ADD_PLUGIN_ALIAS(TouchPlugin, "gz::sim::systems::TouchPlugin") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(TouchPlugin, "ignition::gazebo::systems::TouchPlugin") +GZ_ADD_PLUGIN_ALIAS(TouchPlugin, "ignition::gazebo::systems::TouchPlugin") diff --git a/src/systems/track_controller/TrackController.cc b/src/systems/track_controller/TrackController.cc index b1b62c00eb..f5e668b404 100644 --- a/src/systems/track_controller/TrackController.cc +++ b/src/systems/track_controller/TrackController.cc @@ -613,14 +613,14 @@ void TrackControllerPrivate::OnCenterOfRotation(const msgs::Vector3d& _msg) this->hasNewCommand = true; } -IGNITION_ADD_PLUGIN(TrackController, +GZ_ADD_PLUGIN(TrackController, gz::sim::System, TrackController::ISystemConfigure, TrackController::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(TrackController, +GZ_ADD_PLUGIN_ALIAS(TrackController, "gz::sim::systems::TrackController") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(TrackController, +GZ_ADD_PLUGIN_ALIAS(TrackController, "ignition::gazebo::systems::TrackController") diff --git a/src/systems/tracked_vehicle/TrackedVehicle.cc b/src/systems/tracked_vehicle/TrackedVehicle.cc index 81c5fb3b0e..1c952e6b17 100644 --- a/src/systems/tracked_vehicle/TrackedVehicle.cc +++ b/src/systems/tracked_vehicle/TrackedVehicle.cc @@ -449,7 +449,7 @@ void TrackedVehicle::Configure(const Entity &_entity, void TrackedVehicle::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("TrackedVehicle::PreUpdate"); + GZ_PROFILE("TrackedVehicle::PreUpdate"); if (_info.dt < std::chrono::steady_clock::duration::zero()) { @@ -535,7 +535,7 @@ void TrackedVehicle::PreUpdate(const gz::sim::UpdateInfo &_info, void TrackedVehicle::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("TrackedVehicle::PostUpdate"); + GZ_PROFILE("TrackedVehicle::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; @@ -549,7 +549,7 @@ void TrackedVehiclePrivate::UpdateOdometry( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("TrackedVehicle::UpdateOdometry"); + GZ_PROFILE("TrackedVehicle::UpdateOdometry"); // Initialize, if not already initialized. if (!this->odom.Initialized()) { @@ -632,7 +632,7 @@ void TrackedVehiclePrivate::UpdateVelocity( const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("TrackedVehicle::UpdateVelocity"); + GZ_PROFILE("TrackedVehicle::UpdateVelocity"); // Read values protected by the mutex double linVel; @@ -768,15 +768,15 @@ void TrackedVehiclePrivate::OnSteeringEfficiency( this->hasNewCommand = true; } -IGNITION_ADD_PLUGIN(TrackedVehicle, +GZ_ADD_PLUGIN(TrackedVehicle, gz::sim::System, TrackedVehicle::ISystemConfigure, TrackedVehicle::ISystemPreUpdate, TrackedVehicle::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(TrackedVehicle, +GZ_ADD_PLUGIN_ALIAS(TrackedVehicle, "gz::sim::systems::TrackedVehicle") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(TrackedVehicle, +GZ_ADD_PLUGIN_ALIAS(TrackedVehicle, "ignition::gazebo::systems::TrackedVehicle") diff --git a/src/systems/trajectory_follower/TrajectoryFollower.cc b/src/systems/trajectory_follower/TrajectoryFollower.cc index 11b38bbfd1..3d0c377d31 100644 --- a/src/systems/trajectory_follower/TrajectoryFollower.cc +++ b/src/systems/trajectory_follower/TrajectoryFollower.cc @@ -195,7 +195,7 @@ void TrajectoryFollowerPrivate::Load(const EntityComponentManager &_ecm, // Add the local vector to the current position. // Store global position as a waypoint. this->localWaypoints.push_back(position + vec); - angle += 2 * IGN_PI / this->numSamples; + angle += 2 * GZ_PI / this->numSamples; vec.Set(radius * cos(angle), radius * sin(angle)); gzdbg << "Entered circle waypoint " << position + vec << std::endl; } @@ -311,7 +311,7 @@ void TrajectoryFollower::PreUpdate( const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("TrajectoryFollower::PreUpdate"); + GZ_PROFILE("TrajectoryFollower::PreUpdate"); { std::lock_guard lock(this->dataPtr->mutex); @@ -430,14 +430,14 @@ void TrajectoryFollower::PreUpdate( this->dataPtr->link.AddWorldWrench(_ecm, forceWorld, torqueWorld); } -IGNITION_ADD_PLUGIN(TrajectoryFollower, +GZ_ADD_PLUGIN(TrajectoryFollower, gz::sim::System, TrajectoryFollower::ISystemConfigure, TrajectoryFollower::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(TrajectoryFollower, +GZ_ADD_PLUGIN_ALIAS(TrajectoryFollower, "gz::sim::systems::TrajectoryFollower") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(TrajectoryFollower, +GZ_ADD_PLUGIN_ALIAS(TrajectoryFollower, "ignition::gazebo::systems::TrajectoryFollower") diff --git a/src/systems/triggered_publisher/TriggeredPublisher.cc b/src/systems/triggered_publisher/TriggeredPublisher.cc index 0e78502777..c3f73dc338 100644 --- a/src/systems/triggered_publisher/TriggeredPublisher.cc +++ b/src/systems/triggered_publisher/TriggeredPublisher.cc @@ -672,7 +672,7 @@ void TriggeredPublisher::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &/*_ecm*/) { using namespace std::chrono_literals; - IGN_PROFILE("TriggeredPublisher::PreUpdate"); + GZ_PROFILE("TriggeredPublisher::PreUpdate"); bool notify = false; { @@ -723,14 +723,14 @@ bool TriggeredPublisher::MatchInput(const transport::ProtoMsg &_inputMsg) }); } -IGNITION_ADD_PLUGIN(TriggeredPublisher, +GZ_ADD_PLUGIN(TriggeredPublisher, gz::sim::System, TriggeredPublisher::ISystemConfigure, TriggeredPublisher::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(TriggeredPublisher, +GZ_ADD_PLUGIN_ALIAS(TriggeredPublisher, "gz::sim::systems::TriggeredPublisher") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(TriggeredPublisher, +GZ_ADD_PLUGIN_ALIAS(TriggeredPublisher, "ignition::gazebo::systems::TriggeredPublisher") diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc index 941c3c388b..fbd38b20d9 100644 --- a/src/systems/user_commands/UserCommands.cc +++ b/src/systems/user_commands/UserCommands.cc @@ -764,7 +764,7 @@ void UserCommands::Configure(const Entity &_entity, void UserCommands::PreUpdate(const UpdateInfo &/*_info*/, EntityComponentManager &) { - IGN_PROFILE("UserCommands::PreUpdate"); + GZ_PROFILE("UserCommands::PreUpdate"); // make a copy the cmds so execution does not block receiving other // incoming cmds std::vector> cmds; @@ -1279,8 +1279,8 @@ bool CreateCommand::Execute() { // deg to rad math::Vector3d latLonEle{ - IGN_DTOR(createMsg->spherical_coordinates().latitude_deg()), - IGN_DTOR(createMsg->spherical_coordinates().longitude_deg()), + GZ_DTOR(createMsg->spherical_coordinates().latitude_deg()), + GZ_DTOR(createMsg->spherical_coordinates().longitude_deg()), createMsg->spherical_coordinates().elevation()}; auto pos = scComp->Data().PositionTransform(latLonEle, @@ -1294,7 +1294,7 @@ bool CreateCommand::Execute() createPose.value().SetY(pos.Y()); createPose.value().SetZ(pos.Z()); createPose.value().Rot() = math::Quaterniond(0, 0, - IGN_DTOR(createMsg->spherical_coordinates().heading_deg())) * + GZ_DTOR(createMsg->spherical_coordinates().heading_deg())) * createPose.value().Rot(); } } @@ -1624,8 +1624,8 @@ bool SphericalCoordinatesCommand::Execute() // deg to rad math::Vector3d latLonEle{ - IGN_DTOR(sphericalCoordinatesMsg->latitude_deg()), - IGN_DTOR(sphericalCoordinatesMsg->longitude_deg()), + GZ_DTOR(sphericalCoordinatesMsg->latitude_deg()), + GZ_DTOR(sphericalCoordinatesMsg->longitude_deg()), sphericalCoordinatesMsg->elevation()}; auto pos = scComp->Data().PositionTransform(latLonEle, @@ -1633,7 +1633,7 @@ bool SphericalCoordinatesCommand::Execute() math::SphericalCoordinates::LOCAL2); math::Pose3d pose{pos.X(), pos.Y(), pos.Z(), 0, 0, - IGN_DTOR(sphericalCoordinatesMsg->heading_deg())}; + GZ_DTOR(sphericalCoordinatesMsg->heading_deg())}; auto poseCmdComp = this->iface->ecm->Component(entity); @@ -1920,14 +1920,14 @@ bool WheelSlipCommand::Execute() return false; } -IGNITION_ADD_PLUGIN(UserCommands, System, +GZ_ADD_PLUGIN(UserCommands, System, UserCommands::ISystemConfigure, UserCommands::ISystemPreUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(UserCommands, +GZ_ADD_PLUGIN_ALIAS(UserCommands, "gz::sim::systems::UserCommands") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(UserCommands, +GZ_ADD_PLUGIN_ALIAS(UserCommands, "ignition::gazebo::systems::UserCommands") diff --git a/src/systems/velocity_control/VelocityControl.cc b/src/systems/velocity_control/VelocityControl.cc index 02968d5acf..243b31aa3f 100644 --- a/src/systems/velocity_control/VelocityControl.cc +++ b/src/systems/velocity_control/VelocityControl.cc @@ -183,7 +183,7 @@ void VelocityControl::Configure(const Entity &_entity, void VelocityControl::PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) { - IGN_PROFILE("VelocityControl::PreUpdate"); + GZ_PROFILE("VelocityControl::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -311,7 +311,7 @@ void VelocityControl::PreUpdate(const gz::sim::UpdateInfo &_info, void VelocityControl::PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) { - IGN_PROFILE("VelocityControl::PostUpdate"); + GZ_PROFILE("VelocityControl::PostUpdate"); // Nothing left to do if paused. if (_info.paused) return; @@ -327,7 +327,7 @@ void VelocityControlPrivate::UpdateVelocity( const gz::sim::UpdateInfo &/*_info*/, const gz::sim::EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("VeocityControl::UpdateVelocity"); + GZ_PROFILE("VeocityControl::UpdateVelocity"); std::lock_guard lock(this->mutex); this->linearVelocity = msgs::Convert(this->targetVel.linear()); @@ -339,7 +339,7 @@ void VelocityControlPrivate::UpdateLinkVelocity( const gz::sim::UpdateInfo &/*_info*/, const gz::sim::EntityComponentManager &/*_ecm*/) { - IGN_PROFILE("VelocityControl::UpdateLinkVelocity"); + GZ_PROFILE("VelocityControl::UpdateLinkVelocity"); std::lock_guard lock(this->mutex); for (const auto& [linkName, msg] : this->linkVels) @@ -374,15 +374,15 @@ void VelocityControlPrivate::OnLinkCmdVel(const msgs::Twist &_msg, } } -IGNITION_ADD_PLUGIN(VelocityControl, +GZ_ADD_PLUGIN(VelocityControl, gz::sim::System, VelocityControl::ISystemConfigure, VelocityControl::ISystemPreUpdate, VelocityControl::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(VelocityControl, +GZ_ADD_PLUGIN_ALIAS(VelocityControl, "gz::sim::systems::VelocityControl") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(VelocityControl, +GZ_ADD_PLUGIN_ALIAS(VelocityControl, "ignition::gazebo::systems::VelocityControl") diff --git a/src/systems/wheel_slip/WheelSlip.cc b/src/systems/wheel_slip/WheelSlip.cc index 4daa44b89a..fcd3ef8562 100644 --- a/src/systems/wheel_slip/WheelSlip.cc +++ b/src/systems/wheel_slip/WheelSlip.cc @@ -349,7 +349,7 @@ void WheelSlip::Configure(const Entity &_entity, ////////////////////////////////////////////////// void WheelSlip::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("WheelSlip::PreUpdate"); + GZ_PROFILE("WheelSlip::PreUpdate"); if (!this->dataPtr->validConfig) return; @@ -385,14 +385,14 @@ void WheelSlip::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) } } -IGNITION_ADD_PLUGIN(WheelSlip, +GZ_ADD_PLUGIN(WheelSlip, gz::sim::System, WheelSlip::ISystemConfigure, WheelSlip::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(WheelSlip, +GZ_ADD_PLUGIN_ALIAS(WheelSlip, "gz::sim::systems::WheelSlip") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(WheelSlip, +GZ_ADD_PLUGIN_ALIAS(WheelSlip, "ignition::gazebo::systems::WheelSlip") diff --git a/src/systems/wind_effects/WindEffects.cc b/src/systems/wind_effects/WindEffects.cc index 555ebb8908..1d0480f1f4 100644 --- a/src/systems/wind_effects/WindEffects.cc +++ b/src/systems/wind_effects/WindEffects.cc @@ -479,7 +479,7 @@ void WindEffectsPrivate::SetupTransport(const std::string &_worldName) void WindEffectsPrivate::UpdateWindVelocity(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("WindEffectsPrivate::UpdateWindVelocity"); + GZ_PROFILE("WindEffectsPrivate::UpdateWindVelocity"); double period = std::chrono::duration(_info.dt).count(); double simTime = std::chrono::duration(_info.simTime).count(); double kMag = period / this->characteristicTimeForWindRise; @@ -509,7 +509,7 @@ void WindEffectsPrivate::UpdateWindVelocity(const UpdateInfo &_info, kMagVertical * windLinVelSeed->Data().Z(); magnitude += this->magnitudeSinAmplitudePercent * this->magnitudeMean * - std::sin(2 * IGN_PI * simTime / this->magnitudeSinPeriod); + std::sin(2 * GZ_PI * simTime / this->magnitudeSinPeriod); if (this->noiseMagnitude) { @@ -518,7 +518,7 @@ void WindEffectsPrivate::UpdateWindVelocity(const UpdateInfo &_info, // Compute horizontal direction double direction = - IGN_RTOD(atan2(windLinVelSeed->Data().Y(), windLinVelSeed->Data().X())); + GZ_RTOD(atan2(windLinVelSeed->Data().Y(), windLinVelSeed->Data().X())); if (!this->directionMean) { @@ -533,15 +533,15 @@ void WindEffectsPrivate::UpdateWindVelocity(const UpdateInfo &_info, direction = this->directionMean.value(); direction += this->orientationSinAmplitude * - std::sin(2 * IGN_PI * simTime / this->orientationSinPeriod); + std::sin(2 * GZ_PI * simTime / this->orientationSinPeriod); if (this->noiseDirection) direction = this->noiseDirection->Apply(direction); // Apply wind velocity gz::math::Vector3d windVel; - windVel.X(magnitude * std::cos(IGN_DTOR(direction))); - windVel.Y(magnitude * std::sin(IGN_DTOR(direction))); + windVel.X(magnitude * std::cos(GZ_DTOR(direction))); + windVel.Y(magnitude * std::sin(GZ_DTOR(direction))); if (this->noiseVertical) { @@ -560,7 +560,7 @@ void WindEffectsPrivate::UpdateWindVelocity(const UpdateInfo &_info, void WindEffectsPrivate::ApplyWindForce(const UpdateInfo &, EntityComponentManager &_ecm) { - IGN_PROFILE("WindEffectsPrivate::ApplyWindForce"); + GZ_PROFILE("WindEffectsPrivate::ApplyWindForce"); auto windVel = _ecm.Component(this->windEntity); if (!windVel) @@ -696,7 +696,7 @@ void WindEffects::Configure(const Entity &_entity, void WindEffects::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) { - IGN_PROFILE("WindEffects::PreUpdate"); + GZ_PROFILE("WindEffects::PreUpdate"); // \TODO(anyone) Support rewind if (_info.dt < std::chrono::steady_clock::duration::zero()) @@ -735,12 +735,12 @@ void WindEffects::PreUpdate(const UpdateInfo &_info, } -IGNITION_ADD_PLUGIN(WindEffects, System, +GZ_ADD_PLUGIN(WindEffects, System, WindEffects::ISystemConfigure, WindEffects::ISystemPreUpdate ) -IGNITION_ADD_PLUGIN_ALIAS(WindEffects, "gz::sim::systems::WindEffects") +GZ_ADD_PLUGIN_ALIAS(WindEffects, "gz::sim::systems::WindEffects") // TODO(CH3): Deprecated, remove on version 8 -IGNITION_ADD_PLUGIN_ALIAS(WindEffects, "ignition::gazebo::systems::WindEffects") +GZ_ADD_PLUGIN_ALIAS(WindEffects, "ignition::gazebo::systems::WindEffects") diff --git a/test/benchmark/ecm_serialize.cc b/test/benchmark/ecm_serialize.cc index 1d1d953b6f..6d3e339587 100644 --- a/test/benchmark/ecm_serialize.cc +++ b/test/benchmark/ecm_serialize.cc @@ -41,24 +41,24 @@ inline namespace GZ_SIM_VERSION_NAMESPACE { namespace components { using IntComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", IntComponent) using UIntComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.UIntComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.UIntComponent", UIntComponent) using DoubleComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", DoubleComponent) using StringComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.StringComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.StringComponent", StringComponent) using BoolComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.BoolComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.BoolComponent", BoolComponent) } } diff --git a/test/helpers/EnvTestFixture.hh b/test/helpers/EnvTestFixture.hh index 540073a739..b304da85e8 100644 --- a/test/helpers/EnvTestFixture.hh +++ b/test/helpers/EnvTestFixture.hh @@ -40,15 +40,15 @@ class InternalFixture : public TestType common::Console::SetVerbosity(4); // Change environment variable so that test files aren't written to $HOME - common::env(IGN_HOMEDIR, this->realHome); - EXPECT_TRUE(common::setenv(IGN_HOMEDIR, this->kFakeHome.c_str())); + common::env(GZ_HOMEDIR, this->realHome); + EXPECT_TRUE(common::setenv(GZ_HOMEDIR, this->kFakeHome.c_str())); } // Documentation inherited protected: void TearDown() override { // Restore $HOME - EXPECT_TRUE(common::setenv(IGN_HOMEDIR, this->realHome.c_str())); + EXPECT_TRUE(common::setenv(GZ_HOMEDIR, this->realHome.c_str())); } /// \brief Directory to act as $HOME for tests diff --git a/test/integration/ModelPhotoShootTest.hh b/test/integration/ModelPhotoShootTest.hh index 30bf14ea31..9009e9d1fe 100644 --- a/test/integration/ModelPhotoShootTest.hh +++ b/test/integration/ModelPhotoShootTest.hh @@ -133,27 +133,27 @@ class ModelPhotoShootTest : public InternalFixture<::testing::Test> pose.Pos().Set(1.6 / scaling + translation.X(), -1.6 / scaling + translation.Y(), 1.2 / scaling + translation.Z()); - pose.Rot().SetFromEuler(0, IGN_DTOR(30), IGN_DTOR(-225)); + pose.Rot().SetFromEuler(0, GZ_DTOR(30), GZ_DTOR(-225)); SavePicture(camera, pose, "1_test.png"); // Top view pose.Pos().Set(0 + translation.X(), 0 + translation.Y(), 2.2 / scaling + translation.Z()); - pose.Rot().SetFromEuler(0, IGN_DTOR(90), 0); + pose.Rot().SetFromEuler(0, GZ_DTOR(90), 0); SavePicture(camera, pose, "2_test.png"); // Front view pose.Pos().Set(2.2 / scaling + translation.X(), 0 + translation.Y(), 0 + translation.Z()); - pose.Rot().SetFromEuler(0, 0, IGN_DTOR(-180)); + pose.Rot().SetFromEuler(0, 0, GZ_DTOR(-180)); SavePicture(camera, pose, "3_test.png"); // Side view pose.Pos().Set(0 + translation.X(), 2.2 / scaling + translation.Y(), 0 + translation.Z()); - pose.Rot().SetFromEuler(0, 0, IGN_DTOR(-90)); + pose.Rot().SetFromEuler(0, 0, GZ_DTOR(-90)); SavePicture(camera, pose, "4_test.png"); // Back view diff --git a/test/integration/ackermann_steering_system.cc b/test/integration/ackermann_steering_system.cc index 7c2b9ab850..7a988500c8 100644 --- a/test/integration/ackermann_steering_system.cc +++ b/test/integration/ackermann_steering_system.cc @@ -195,7 +195,7 @@ class AckermannSteeringTest ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) +TEST_P(AckermannSteeringTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) { TestPublishCmd(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "/test/worlds/ackermann_steering.sdf"), @@ -204,7 +204,7 @@ TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) ///////////////////////////////////////////////// TEST_P(AckermannSteeringTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmdCustomTopics)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmdCustomTopics)) { TestPublishCmd(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "/test/worlds/ackermann_steering_custom_topics.sdf"), @@ -212,7 +212,7 @@ TEST_P(AckermannSteeringTest, } ///////////////////////////////////////////////// -TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) +TEST_P(AckermannSteeringTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) { // Start server ServerConfig serverConfig; @@ -310,7 +310,7 @@ TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) } ///////////////////////////////////////////////// -TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) +TEST_P(AckermannSteeringTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) { // Start server ServerConfig serverConfig; @@ -369,7 +369,7 @@ TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) ///////////////////////////////////////////////// TEST_P(AckermannSteeringTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/air_pressure_system.cc b/test/integration/air_pressure_system.cc index 9b6b335500..d8dcfbd190 100644 --- a/test/integration/air_pressure_system.cc +++ b/test/integration/air_pressure_system.cc @@ -43,7 +43,7 @@ class AirPressureTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(AirPressureTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(AirPressure)) +TEST_F(AirPressureTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(AirPressure)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/altimeter_system.cc b/test/integration/altimeter_system.cc index f492f2df82..1b91d9552e 100644 --- a/test/integration/altimeter_system.cc +++ b/test/integration/altimeter_system.cc @@ -61,7 +61,7 @@ void altimeterCb(const msgs::Altimeter &_msg) ///////////////////////////////////////////////// // The test checks the world pose and sensor readings of a falling altimeter // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(AltimeterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) +TEST_F(AltimeterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/apply_joint_force_system.cc b/test/integration/apply_joint_force_system.cc index 02c3c7194e..0eabf4f89d 100644 --- a/test/integration/apply_joint_force_system.cc +++ b/test/integration/apply_joint_force_system.cc @@ -49,7 +49,7 @@ class ApplyJointForceTestFixture : public InternalFixture<::testing::Test> // Tests that the ApplyJointForce accepts joint velocity commands // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(ApplyJointForceTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityCommand)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityCommand)) { using namespace std::chrono_literals; diff --git a/test/integration/battery_plugin.cc b/test/integration/battery_plugin.cc index afc06d6fa1..bf32cc57fc 100644 --- a/test/integration/battery_plugin.cc +++ b/test/integration/battery_plugin.cc @@ -74,7 +74,7 @@ class BatteryPluginTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // Single model consuming single batter // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SingleBattery)) +TEST_F(BatteryPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SingleBattery)) { const auto sdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "battery.sdf"); @@ -164,7 +164,7 @@ TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SingleBattery)) ///////////////////////////////////////////////// // Battery with power draining topics // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PowerDrainTopic)) +TEST_F(BatteryPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PowerDrainTopic)) { const auto sdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "battery.sdf"); diff --git a/test/integration/breadcrumbs.cc b/test/integration/breadcrumbs.cc index afdf59030c..c7089b588b 100644 --- a/test/integration/breadcrumbs.cc +++ b/test/integration/breadcrumbs.cc @@ -77,7 +77,7 @@ void remainingCb(const msgs::Int32 &_msg) ///////////////////////////////////////////////// // This test checks the .../deploy/remaining topic // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remaining)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Remaining)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -135,7 +135,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remaining)) ///////////////////////////////////////////////// // The test checks breadcrumbs are deployed at the correct pose -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeployAtOffset)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DeployAtOffset)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -200,7 +200,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeployAtOffset)) ///////////////////////////////////////////////// // The test checks max deployments -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MaxDeployments)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(MaxDeployments)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -256,7 +256,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MaxDeployments)) ///////////////////////////////////////////////// // The test checks that including models from fuel works. Also checks custom // topic -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(FuelDeploy)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(FuelDeploy)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -309,7 +309,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(FuelDeploy)) ///////////////////////////////////////////////// // The test checks that breadcrumbs can be performers -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Performer)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Performer)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -383,7 +383,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Performer)) ///////////////////////////////////////////////// // Test that the volume of the performer is set when deploying a performer // breadcrumb -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PerformerSetVolume)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PerformerSetVolume)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf", true); @@ -437,7 +437,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PerformerSetVolume)) ///////////////////////////////////////////////// // The test verifies breadcrumbs physics is disabled using disable_physics_time -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeployDisablePhysics)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DeployDisablePhysics)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -515,7 +515,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeployDisablePhysics)) ///////////////////////////////////////////////// // The test verifies that if allow_renaming is true, the Breadcrumb system // renames spawned models if a model with the same name exists. -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(AllowRenaming)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(AllowRenaming)) { // Start server this->LoadWorld("test/worlds/breadcrumbs.sdf"); @@ -569,7 +569,7 @@ std::vector ModelsByNameRegex( // The test checks that models containing Breadcrumbs can be unloaded and loaded // safely -TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) +TEST_F(BreadcrumbsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) { // Start server this->LoadWorld("test/worlds/breadcrumbs_levels.sdf", true); diff --git a/test/integration/buoyancy.cc b/test/integration/buoyancy.cc index d87aaa005f..e7d11a0083 100644 --- a/test/integration/buoyancy.cc +++ b/test/integration/buoyancy.cc @@ -45,7 +45,7 @@ class BuoyancyTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RestoringMoments)) +TEST_F(BuoyancyTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RestoringMoments)) { // This test checks if the restoring moments are correctly calculated accross // both uniform and graded modes when the vehicle is fully submerged. @@ -162,7 +162,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RestoringMoments)) ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) +TEST_F(BuoyancyTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) { // Start server ServerConfig serverConfig; @@ -317,7 +317,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(GradedBuoyancy)) +TEST_F(BuoyancyTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(GradedBuoyancy)) { // Start server ServerConfig serverConfig; @@ -402,7 +402,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(GradedBuoyancy)) ///////////////////////////////////////////////// -TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OffsetAndRotationGraded)) +TEST_F(BuoyancyTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OffsetAndRotationGraded)) { TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "center_of_volume_graded.sdf")); @@ -457,7 +457,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OffsetAndRotationGraded)) } ///////////////////////////////////////////////// -TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OffsetAndRotation)) +TEST_F(BuoyancyTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OffsetAndRotation)) { TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "center_of_volume.sdf")); diff --git a/test/integration/buoyancy_engine.cc b/test/integration/buoyancy_engine.cc index 51bd90dd47..6c8b5f064a 100644 --- a/test/integration/buoyancy_engine.cc +++ b/test/integration/buoyancy_engine.cc @@ -54,7 +54,7 @@ class BuoyancyEngineTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(BuoyancyEngineTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TestDownward)) +TEST_F(BuoyancyEngineTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TestDownward)) { ServerConfig serverConfig; const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH), @@ -103,7 +103,7 @@ TEST_F(BuoyancyEngineTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TestDownward)) } ///////////////////////////////////////////////// -TEST_F(BuoyancyEngineTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TestUpward)) +TEST_F(BuoyancyEngineTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TestUpward)) { ServerConfig serverConfig; const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH), @@ -152,7 +152,7 @@ TEST_F(BuoyancyEngineTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TestUpward)) } ///////////////////////////////////////////////// -TEST_F(BuoyancyEngineTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TestUpwardSurface)) +TEST_F(BuoyancyEngineTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TestUpwardSurface)) { ServerConfig serverConfig; const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH), diff --git a/test/integration/camera_sensor_background.cc b/test/integration/camera_sensor_background.cc index 085dbfb89b..9a1b1086ae 100644 --- a/test/integration/camera_sensor_background.cc +++ b/test/integration/camera_sensor_background.cc @@ -71,7 +71,7 @@ void cameraCb(const msgs::Image & _msg) // Test the ability to set the background color using the sensor system // plugin. TEST_F(CameraSensorBackgroundFixture, - IGN_UTILS_TEST_DISABLED_ON_MAC(RedBackground)) + GZ_UTILS_TEST_DISABLED_ON_MAC(RedBackground)) { // Start server sim::ServerConfig serverConfig; diff --git a/test/integration/camera_sensor_background_from_scene.cc b/test/integration/camera_sensor_background_from_scene.cc index 2af43cb94d..1561966d03 100644 --- a/test/integration/camera_sensor_background_from_scene.cc +++ b/test/integration/camera_sensor_background_from_scene.cc @@ -75,7 +75,7 @@ void cameraCb(const msgs::Image & _msg) ///////////////////////////////////////////////// // Test sensors use the background color of by default TEST_F(CameraSensorBackgroundFixture, - IGN_UTILS_TEST_DISABLED_ON_MAC(RedBackgroundFromScene)) + GZ_UTILS_TEST_DISABLED_ON_MAC(RedBackgroundFromScene)) { const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "camera_sensor_scene_background.sdf"); diff --git a/test/integration/camera_video_record_system.cc b/test/integration/camera_video_record_system.cc index eb6a6e377e..e719f96cd5 100644 --- a/test/integration/camera_video_record_system.cc +++ b/test/integration/camera_video_record_system.cc @@ -37,7 +37,7 @@ class CameraVideoRecorderTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(CameraVideoRecorderTest, IGN_UTILS_TEST_DISABLED_ON_MAC(RecordVideo)) +TEST_F(CameraVideoRecorderTest, GZ_UTILS_TEST_DISABLED_ON_MAC(RecordVideo)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc index c5666def62..2ff5411300 100644 --- a/test/integration/collada_world_exporter.cc +++ b/test/integration/collada_world_exporter.cc @@ -53,7 +53,7 @@ class ColladaWorldExporterFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(ColladaWorldExporterFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ExportWorld)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ExportWorld)) { this->LoadWorld(common::joinPaths("test", "worlds", "collada_world_exporter.sdf")); @@ -75,7 +75,7 @@ TEST_F(ColladaWorldExporterFixture, } TEST_F(ColladaWorldExporterFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ExportWorldFromFuelWithSubmesh)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ExportWorldFromFuelWithSubmesh)) { std::string world_path = gz::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds"); @@ -113,7 +113,7 @@ TEST_F(ColladaWorldExporterFixture, } TEST_F(ColladaWorldExporterFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ExportWorldMadeFromObj)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ExportWorldMadeFromObj)) { std::string world_path = gz::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds"); @@ -152,7 +152,7 @@ TEST_F(ColladaWorldExporterFixture, } TEST_F(ColladaWorldExporterFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ExportWorldWithLights)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ExportWorldWithLights)) { this->LoadWorld(common::joinPaths("test", "worlds", "collada_world_exporter_lights.sdf")); diff --git a/test/integration/components.cc b/test/integration/components.cc index 1ffd6ff8ec..4712e5cbfb 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -862,7 +862,7 @@ TEST_F(ComponentsTest, Light) auto data1 = sdf::Light(); data1.SetType(sdf::LightType::POINT); data1.SetName("light_test"); - data1.SetRawPose(math::Pose3d(1, 2, 4, 0, 0, IGN_PI)); + data1.SetRawPose(math::Pose3d(1, 2, 4, 0, 0, GZ_PI)); data1.SetDiffuse(math::Color(1, 0, 0, 1)); data1.SetSpecular(math::Color(0, 1, 0, 1)); data1.SetCastShadows(true); @@ -893,7 +893,7 @@ TEST_F(ComponentsTest, Light) comp3.Deserialize(istr); EXPECT_EQ(sdf::LightType::POINT, comp3.Data().Type()); EXPECT_EQ("light_test", comp3.Data().Name()); - EXPECT_EQ(math::Pose3d(1, 2, 4, 0, 0, IGN_PI), comp3.Data().RawPose()); + EXPECT_EQ(math::Pose3d(1, 2, 4, 0, 0, GZ_PI), comp3.Data().RawPose()); EXPECT_EQ(math::Color(1, 0, 0, 1), comp3.Data().Diffuse()); EXPECT_EQ(math::Color(0, 1, 0, 1), comp3.Data().Specular()); EXPECT_TRUE(comp3.Data().CastShadows()); diff --git a/test/integration/contact_system.cc b/test/integration/contact_system.cc index 3ed10def8e..3d7f4645d0 100644 --- a/test/integration/contact_system.cc +++ b/test/integration/contact_system.cc @@ -44,7 +44,7 @@ class ContactSystemTest : public InternalFixture<::testing::Test> // This test verifies that colliding entity names are populated in // the contact points message. TEST_F(ContactSystemTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EnableCollidingEntityNames)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EnableCollidingEntityNames)) { // Start server ServerConfig serverConfig; @@ -120,7 +120,7 @@ TEST_F(ContactSystemTest, // This test verifies that colliding entity names are not populated in // the contact points message. TEST_F(ContactSystemTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(DisableCollidingEntityNames)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(DisableCollidingEntityNames)) { // Start server ServerConfig serverConfig; @@ -193,7 +193,7 @@ TEST_F(ContactSystemTest, // The test checks that contacts are published by the contact system // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(ContactSystemTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MultipleCollisionsAsContactSensors)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MultipleCollisionsAsContactSensors)) { // Start server ServerConfig serverConfig; @@ -273,7 +273,7 @@ TEST_F(ContactSystemTest, } TEST_F(ContactSystemTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(RemoveContactSensor)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(RemoveContactSensor)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/deprecated_TEST.cc b/test/integration/deprecated_TEST.cc index 8dabdcefc3..57ca438c10 100644 --- a/test/integration/deprecated_TEST.cc +++ b/test/integration/deprecated_TEST.cc @@ -20,7 +20,7 @@ #include #include -IGN_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION +GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION ///////////////////////////////////////////////// // Make sure the ignition namespace still works @@ -31,4 +31,4 @@ TEST(Deprecated, IgnitionNamespace) #undef SUPPRESS_IGNITION_HEADER_DEPRECATION -IGN_UTILS_WARN_RESUME__DEPRECATED_DECLARATION +GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc index 1ce4d546cd..cb69393b8c 100644 --- a/test/integration/depth_camera.cc +++ b/test/integration/depth_camera.cc @@ -61,7 +61,7 @@ void depthCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks the Depth Camera readings when it faces a box -TEST_F(DepthCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(DepthCameraBox)) +TEST_F(DepthCameraTest, GZ_UTILS_TEST_DISABLED_ON_MAC(DepthCameraBox)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/detachable_joint.cc b/test/integration/detachable_joint.cc index 8745163de0..4ff9413d88 100644 --- a/test/integration/detachable_joint.cc +++ b/test/integration/detachable_joint.cc @@ -59,7 +59,7 @@ class DetachableJointTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(DetachableJointTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StartConnected)) +TEST_F(DetachableJointTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(StartConnected)) { using namespace std::chrono_literals; @@ -137,7 +137,7 @@ TEST_F(DetachableJointTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StartConnected)) } ///////////////////////////////////////////////// -TEST_F(DetachableJointTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LinksInSameModel)) +TEST_F(DetachableJointTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LinksInSameModel)) { using namespace std::chrono_literals; diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc index 1d0e8bb984..4f703f6ca7 100644 --- a/test/integration/diff_drive_system.cc +++ b/test/integration/diff_drive_system.cc @@ -212,7 +212,7 @@ class DiffDriveTest : public InternalFixture<::testing::TestWithParam> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) { TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + "/test/worlds/diff_drive.sdf", @@ -220,7 +220,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmdCustomTopics)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmdCustomTopics)) { TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + @@ -229,7 +229,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmdCustomTopics)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) { // Start server ServerConfig serverConfig; @@ -331,7 +331,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(EnableDisableCmd)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(EnableDisableCmd)) { // Start server ServerConfig serverConfig; @@ -455,7 +455,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(EnableDisableCmd)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) { // Start server ServerConfig serverConfig; @@ -513,7 +513,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) { // Start server ServerConfig serverConfig; @@ -570,7 +570,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose_VFrameId)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Pose_VFrameId)) { // Start server ServerConfig serverConfig; @@ -630,7 +630,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose_VFrameId)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose_VCustomFrameId)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Pose_VCustomFrameId)) { // Start server ServerConfig serverConfig; @@ -690,7 +690,7 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose_VCustomFrameId)) } ///////////////////////////////////////////////// -TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose_VCustomTfTopic)) +TEST_P(DiffDriveTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Pose_VCustomTfTopic)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/distortion_camera.cc b/test/integration/distortion_camera.cc index 04df6a1f8c..6865f73843 100644 --- a/test/integration/distortion_camera.cc +++ b/test/integration/distortion_camera.cc @@ -67,7 +67,7 @@ void imageCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks the Distortion Camera readings TEST_F(DistortionCameraTest, - IGN_UTILS_TEST_DISABLED_ON_MAC(DistortionCameraBox)) + GZ_UTILS_TEST_DISABLED_ON_MAC(DistortionCameraBox)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/each_new_removed.cc b/test/integration/each_new_removed.cc index 0827135d13..70d2f23730 100644 --- a/test/integration/each_new_removed.cc +++ b/test/integration/each_new_removed.cc @@ -37,7 +37,7 @@ using namespace gz; using namespace std::chrono_literals; using IntComponent = sim::components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", +GZ_SIM_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", IntComponent) class EachNewRemovedFixture : public InternalFixture<::testing::Test> @@ -47,7 +47,7 @@ class EachNewRemovedFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(EachNewRemovedFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewEachRemovedInSystem)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EachNewEachRemovedInSystem)) { gz::sim::ServerConfig serverConfig; diff --git a/test/integration/entity_erase.cc b/test/integration/entity_erase.cc index ccfea18ce3..849f29457b 100644 --- a/test/integration/entity_erase.cc +++ b/test/integration/entity_erase.cc @@ -36,7 +36,7 @@ class PhysicsSystemFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(CreatePhysicsWorld)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(CreatePhysicsWorld)) { gz::sim::ServerConfig serverConfig; diff --git a/test/integration/events.cc b/test/integration/events.cc index b8d31d9746..6ce6a3d0fc 100644 --- a/test/integration/events.cc +++ b/test/integration/events.cc @@ -36,7 +36,7 @@ class EventTrigger : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(EventTrigger, IGN_UTILS_TEST_DISABLED_ON_WIN32(TriggerPause)) +TEST_F(EventTrigger, GZ_UTILS_TEST_DISABLED_ON_WIN32(TriggerPause)) { // Create server ServerConfig config; diff --git a/test/integration/examples_build.cc b/test/integration/examples_build.cc index 0dd86527a4..af75fa684e 100644 --- a/test/integration/examples_build.cc +++ b/test/integration/examples_build.cc @@ -143,7 +143,7 @@ void ExamplesBuild::Build(const ExampleEntry &_entry) ////////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(ExamplesBuild, IGN_UTILS_TEST_DISABLED_ON_WIN32(Build)) +TEST_P(ExamplesBuild, GZ_UTILS_TEST_DISABLED_ON_WIN32(Build)) { Build(GetParam()); } diff --git a/test/integration/follow_actor_system.cc b/test/integration/follow_actor_system.cc index 553e6c6a35..3d8e009070 100644 --- a/test/integration/follow_actor_system.cc +++ b/test/integration/follow_actor_system.cc @@ -86,7 +86,7 @@ class Relay ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_P(FollowActorTest, - IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd)) + GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PublishCmd)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/force_torque_system.cc b/test/integration/force_torque_system.cc index 282124be8f..13227dc920 100644 --- a/test/integration/force_torque_system.cc +++ b/test/integration/force_torque_system.cc @@ -41,7 +41,7 @@ class ForceTorqueTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(ForceTorqueTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MeasureWeight)) +TEST_F(ForceTorqueTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(MeasureWeight)) { using namespace std::chrono_literals; // Start server @@ -99,7 +99,7 @@ TEST_F(ForceTorqueTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MeasureWeight)) } ///////////////////////////////////////////////// -TEST_F(ForceTorqueTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SensorPoseOffset)) +TEST_F(ForceTorqueTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SensorPoseOffset)) { using namespace std::chrono_literals; // Start server diff --git a/test/integration/gpu_lidar.cc b/test/integration/gpu_lidar.cc index 0d1e3ac55a..6bbddc489f 100644 --- a/test/integration/gpu_lidar.cc +++ b/test/integration/gpu_lidar.cc @@ -53,7 +53,7 @@ void laserCb(const msgs::LaserScan &_msg) ///////////////////////////////////////////////// // The test checks the Gpu Lidar readings when it faces a box -TEST_F(GpuLidarTest, IGN_UTILS_TEST_DISABLED_ON_MAC(GpuLidarBox)) +TEST_F(GpuLidarTest, GZ_UTILS_TEST_DISABLED_ON_MAC(GpuLidarBox)) { const int horzSamples = 640; diff --git a/test/integration/halt_motion.cc b/test/integration/halt_motion.cc index 13b207868f..8dd6d517e5 100644 --- a/test/integration/halt_motion.cc +++ b/test/integration/halt_motion.cc @@ -149,7 +149,7 @@ class HaltMotionTest : public InternalFixture<::testing::TestWithParam> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(HaltMotionTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) +TEST_P(HaltMotionTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) { TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + "/test/worlds/diff_drive.sdf", diff --git a/test/integration/imu_system.cc b/test/integration/imu_system.cc index 7da90fffbb..d9bea1b4ea 100644 --- a/test/integration/imu_system.cc +++ b/test/integration/imu_system.cc @@ -109,7 +109,7 @@ void imuCb(const msgs::IMU &_msg) ///////////////////////////////////////////////// // The test checks the world pose and sensor readings of a falling imu // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) +TEST_F(ImuTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) { double z = 3; // TODO(anyone): get step size from sdf @@ -260,7 +260,7 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) ///////////////////////////////////////////////// // The test checks to make sure orientation is not published if it is disabled -TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OrientationDisabled)) +TEST_F(ImuTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OrientationDisabled)) { imuMsgs.clear(); @@ -299,7 +299,7 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OrientationDisabled)) ///////////////////////////////////////////////// // The test checks if the orientation is published according to the // localization tag -TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(NamedFrames)) +TEST_F(ImuTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(NamedFrames)) { imuMsgs.clear(); clearLastImuMsgs(); @@ -373,7 +373,7 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(NamedFrames)) ///////////////////////////////////////////////// // The test checks if the orientation is published according to the // localization tag, with heading_deg also accounted for -TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(NamedFramesWithHeading)) +TEST_F(ImuTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(NamedFramesWithHeading)) { imuMsgs.clear(); clearLastImuMsgs(); @@ -448,7 +448,7 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(NamedFramesWithHeading)) // The test checks if orientations are reported correctly for a rotating body. // The world includes a sphere rolling down a plane, with axis of rotation // as the "west" direction vector, using the right hand rule. -TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RotatingBody)) +TEST_F(ImuTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RotatingBody)) { imuMsgs.clear(); clearLastImuMsgs(); diff --git a/test/integration/joint_controller_system.cc b/test/integration/joint_controller_system.cc index 24f4b68cd7..228448d443 100644 --- a/test/integration/joint_controller_system.cc +++ b/test/integration/joint_controller_system.cc @@ -49,7 +49,7 @@ class JointControllerTestFixture : public InternalFixture<::testing::Test> // Tests that the JointController accepts joint velocity commands // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(JointControllerTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityCommand)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityCommand)) { using namespace std::chrono_literals; @@ -147,7 +147,7 @@ TEST_F(JointControllerTestFixture, ///////////////////////////////////////////////// // Tests the JointController using joint force commands TEST_F(JointControllerTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityCommandWithForce)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityCommandWithForce)) { using namespace std::chrono_literals; diff --git a/test/integration/joint_position_controller_system.cc b/test/integration/joint_position_controller_system.cc index 32d8fc450d..471cc4a817 100644 --- a/test/integration/joint_position_controller_system.cc +++ b/test/integration/joint_position_controller_system.cc @@ -50,7 +50,7 @@ class JointPositionControllerTestFixture // Tests that the JointPositionController accepts joint position commands // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(JointPositionControllerTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointPositionForceCommand)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointPositionForceCommand)) { using namespace std::chrono_literals; @@ -127,7 +127,7 @@ TEST_F(JointPositionControllerTestFixture, ///////////////////////////////////////////////// // Tests that the JointPositionController accepts joint position commands TEST_F(JointPositionControllerTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointPositonVelocityCommand)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointPositonVelocityCommand)) { using namespace std::chrono_literals; diff --git a/test/integration/joint_state_publisher_system.cc b/test/integration/joint_state_publisher_system.cc index 7b0b475bd6..002a4550da 100644 --- a/test/integration/joint_state_publisher_system.cc +++ b/test/integration/joint_state_publisher_system.cc @@ -38,7 +38,7 @@ class JointStatePublisherTest ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(JointStatePublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultPublisher)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(DefaultPublisher)) { // Start server ServerConfig serverConfig; @@ -90,7 +90,7 @@ TEST_F(JointStatePublisherTest, ///////////////////////////////////////////////// TEST_F(JointStatePublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LimitedPublisher)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LimitedPublisher)) { // Start server ServerConfig serverConfig; @@ -147,7 +147,7 @@ TEST_F(JointStatePublisherTest, ///////////////////////////////////////////////// TEST_F(JointStatePublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedJointPublisher)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(NestedJointPublisher)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/joint_trajectory_controller_system.cc b/test/integration/joint_trajectory_controller_system.cc index afcc3bc546..172007e6d8 100644 --- a/test/integration/joint_trajectory_controller_system.cc +++ b/test/integration/joint_trajectory_controller_system.cc @@ -55,7 +55,7 @@ class JointTrajectoryControllerTestFixture // trajectory // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(JointTrajectoryControllerTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointTrajectoryControllerPositionControl)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointTrajectoryControllerPositionControl)) { using namespace std::chrono_literals; @@ -231,7 +231,7 @@ TEST_F(JointTrajectoryControllerTestFixture, // Tests that JointTrajectoryController accepts velocity-controlled joint // trajectory TEST_F(JointTrajectoryControllerTestFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointTrajectoryControllerVelocityControl)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointTrajectoryControllerVelocityControl)) { using namespace std::chrono_literals; diff --git a/test/integration/kinetic_energy_monitor_system.cc b/test/integration/kinetic_energy_monitor_system.cc index 3fb578343c..5e7b4e9322 100644 --- a/test/integration/kinetic_energy_monitor_system.cc +++ b/test/integration/kinetic_energy_monitor_system.cc @@ -53,7 +53,7 @@ void cb(const msgs::Double &_msg) ///////////////////////////////////////////////// // The test checks the world pose and sensor readings of a falling altimeter // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(KineticEnergyMonitorTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) +TEST_F(KineticEnergyMonitorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/level_manager.cc b/test/integration/level_manager.cc index 43f08488ae..12896a34ee 100644 --- a/test/integration/level_manager.cc +++ b/test/integration/level_manager.cc @@ -180,7 +180,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// /// Check default level includes entities not included by other levels // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) +TEST_F(LevelManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) { std::vector> levelEntityNamesList; @@ -226,7 +226,7 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) /////////////////////////////////////////////// /// Check a level is loaded when a performer is inside a level /// Check a level is unloaded when a performer is outside a level -TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) +TEST_F(LevelManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) { ModelMover perf1(*this->server->EntityByName("sphere")); this->server->AddSystem(perf1.systemPtr); @@ -276,7 +276,7 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) /////////////////////////////////////////////// /// Check behaviour of level buffers -TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffers)) +TEST_F(LevelManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffers)) { ModelMover perf1(*this->server->EntityByName("sphere")); this->server->AddSystem(perf1.systemPtr); @@ -315,7 +315,7 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffers)) /////////////////////////////////////////////// /// Check that multiple performers can load/unload multiple levels independently TEST_F(LevelManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelsWithMultiplePerformers)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelsWithMultiplePerformers)) { ModelMover perf1(*this->server->EntityByName("sphere")); ModelMover perf2(*this->server->EntityByName("box")); @@ -433,7 +433,7 @@ TEST_F(LevelManagerFixture, /////////////////////////////////////////////// /// Check that buffers work properly with multiple performers TEST_F(LevelManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffersWithMultiplePerformers)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffersWithMultiplePerformers)) { ModelMover perf1(*this->server->EntityByName("sphere")); ModelMover perf2(*this->server->EntityByName("box")); diff --git a/test/integration/level_manager_runtime_performers.cc b/test/integration/level_manager_runtime_performers.cc index bf2456ebfb..699ad1742c 100644 --- a/test/integration/level_manager_runtime_performers.cc +++ b/test/integration/level_manager_runtime_performers.cc @@ -208,7 +208,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// /// Check default level includes entities not included by other levels // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) +TEST_F(LevelManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) { std::vector> levelEntityNamesList; @@ -254,7 +254,7 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) /////////////////////////////////////////////// /// Check a level is loaded when a performer is inside a level /// Check a level is unloaded when a performer is outside a level -TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) +TEST_F(LevelManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) { ModelMover perf1(*this->server->EntityByName("sphere")); this->server->AddSystem(perf1.systemPtr); @@ -304,7 +304,7 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) /////////////////////////////////////////////// /// Check behaviour of level buffers -TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffers)) +TEST_F(LevelManagerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffers)) { ModelMover perf1(*this->server->EntityByName("sphere")); this->server->AddSystem(perf1.systemPtr); @@ -343,7 +343,7 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffers)) /////////////////////////////////////////////// /// Check that multiple performers can load/unload multiple levels independently TEST_F(LevelManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelsWithMultiplePerformers)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelsWithMultiplePerformers)) { ModelMover perf1(*this->server->EntityByName("sphere")); ModelMover perf2(*this->server->EntityByName("box")); @@ -461,7 +461,7 @@ TEST_F(LevelManagerFixture, /////////////////////////////////////////////// /// Check that buffers work properly with multiple performers TEST_F(LevelManagerFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffersWithMultiplePerformers)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelBuffersWithMultiplePerformers)) { ModelMover perf1(*this->server->EntityByName("sphere")); ModelMover perf2(*this->server->EntityByName("box")); diff --git a/test/integration/lift_drag_system.cc b/test/integration/lift_drag_system.cc index 9caf5a881e..9bb6c5151b 100644 --- a/test/integration/lift_drag_system.cc +++ b/test/integration/lift_drag_system.cc @@ -72,7 +72,7 @@ class VerticalForceParamFixture /// Measure / verify force torques against analytical answers. // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_P(VerticalForceParamFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(VerifyVerticalForce)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(VerifyVerticalForce)) { using namespace std::chrono_literals; gz::common::setenv( diff --git a/test/integration/link.cc b/test/integration/link.cc index ae504bc03c..fd04e8bddb 100644 --- a/test/integration/link.cc +++ b/test/integration/link.cc @@ -233,10 +233,10 @@ TEST_F(LinkIntegrationTest, LinkPoses) EXPECT_EQ(std::nullopt, link.WorldInertialPose(ecm)); math::Pose3d linkWorldPose; - linkWorldPose.Set(1.0, 0.0, 0.0, 0, 0, IGN_PI_4); + linkWorldPose.Set(1.0, 0.0, 0.0, 0, 0, GZ_PI_4); math::Pose3d inertiaPose; // This is the pose of the inertia frame relative to its parent link frame - inertiaPose.Set(1.0, 2.0, 3.0, 0, IGN_PI_2, 0); + inertiaPose.Set(1.0, 2.0, 3.0, 0, GZ_PI_2, 0); math::Inertiald linkInertial; linkInertial.SetPose(inertiaPose); @@ -279,7 +279,7 @@ TEST_F(LinkIntegrationTest, LinkVelocities) // With custom velocities math::Pose3d pose; - pose.Set(0, 0, 0, IGN_PI_2, 0, 0); + pose.Set(0, 0, 0, GZ_PI_2, 0, 0); math::Vector3d linVel{1.0, 0.0, 0.0}; math::Vector3d angVel{0.0, 0.0, 2.0}; ecm.SetComponentData(eLink, pose); @@ -372,11 +372,11 @@ TEST_F(LinkIntegrationTest, LinkInertiaMatrix) math::MassMatrix3d linkMassMatrix(1.0, {0.4, 0.4, 0.4}, {0.02, 0.02, 0.02}); math::Pose3d linkComPose; - linkComPose.Set(0.2, 0.1, 0.0, IGN_PI_4, 0, 0); + linkComPose.Set(0.2, 0.1, 0.0, GZ_PI_4, 0, 0); math::Inertiald linkInertial{linkMassMatrix, linkComPose}; math::Pose3d linkWorldPose; - linkWorldPose.Set(0.0, 0.1, 0.2, 0.0, IGN_PI_4, IGN_PI_2); + linkWorldPose.Set(0.0, 0.1, 0.2, 0.0, GZ_PI_4, GZ_PI_2); ecm.CreateComponent(eLink, components::Inertial(linkInertial)); ecm.CreateComponent(eLink, components::WorldPose(linkWorldPose)); @@ -407,11 +407,11 @@ TEST_F(LinkIntegrationTest, LinkKineticEnergy) math::MassMatrix3d linkMassMatrix(2.0, {2.0, 1.5, 1.0}, {0.0, 0.0, 0.0}); math::Pose3d linkComPose; - linkComPose.Set(0.2, 0.0, 0.0, IGN_PI_2, 0, 0); + linkComPose.Set(0.2, 0.0, 0.0, GZ_PI_2, 0, 0); math::Inertiald linkInertial{linkMassMatrix, linkComPose}; math::Pose3d linkWorldPose; - linkWorldPose.Set(0.0, 0.1, 0.2, 0.0, 0.0, IGN_PI_2); + linkWorldPose.Set(0.0, 0.1, 0.2, 0.0, 0.0, GZ_PI_2); // initially zero velocity math::Vector3d linkWorldAngularVelocity; @@ -552,9 +552,9 @@ TEST_F(LinkIntegrationTest, LinkAddWorldForce) // create WorldPose and Inertial component and try adding force again math::Pose3d linkWorldPose; - linkWorldPose.Set(1.0, 0.0, 0.0, 0, 0, IGN_PI_4); + linkWorldPose.Set(1.0, 0.0, 0.0, 0, 0, GZ_PI_4); math::Pose3d inertiaPose; - inertiaPose.Set(1.0, 2.0, 3.0, 0, IGN_PI_2, 0); + inertiaPose.Set(1.0, 2.0, 3.0, 0, GZ_PI_2, 0); math::Inertiald linkInertial; linkInertial.SetPose(inertiaPose); ecm.CreateComponent(eLink, components::WorldPose(linkWorldPose)); diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 7126d671ad..3ecf081cbf 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -264,7 +264,7 @@ class LogSystemTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPlaybackStatistics)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogPlaybackStatistics)) { // TODO(anyone) see LogSystemTest.LogControl comment about re-recording auto logPath = common::joinPaths(PROJECT_SOURCE_PATH, "test", "media", @@ -315,7 +315,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPlaybackStatistics)) ///////////////////////////////////////////////// // Logging behavior when no paths are specified -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults)) { // Create temp directory to store log this->CreateLogsDir(); @@ -327,9 +327,9 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults)) // Change environment variable so that test files aren't written to $HOME std::string homeOrig; - common::env(IGN_HOMEDIR, homeOrig); + common::env(GZ_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeFake.c_str())); // Test case 1: // No path specified on command line. This does not go through @@ -416,13 +416,13 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults)) #endif // Revert environment variable after test is done - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeOrig.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeOrig.c_str())); } ///////////////////////////////////////////////// // Logging behavior when a path is specified either via the C++ API, SDF, or // the command line. -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPaths)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogPaths)) { // Create temp directory to store log this->CreateLogsDir(); @@ -470,9 +470,9 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPaths)) // Change environment variable so that test files aren't written to $HOME std::string homeOrig; - common::env(IGN_HOMEDIR, homeOrig); + common::env(GZ_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeFake.c_str())); // Store number of files before running auto logPath = common::joinPaths(homeFake.c_str(), ".gz", "sim", @@ -685,13 +685,13 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPaths)) #endif // Revert environment variable after test is done - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeOrig.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeOrig.c_str())); this->RemoveLogsDir(); } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback)) { // Create temp directory to store log this->CreateLogsDir(); @@ -841,7 +841,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RecordAndPlayback)) } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogControl)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogControl)) { // TODO(anyone) when re-recording state.tlog file, do not run // `ign gazebo --record rolling_shapes.sdf` with `-r` flag and pause sim @@ -961,7 +961,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogControl)) } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogOverwrite)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogOverwrite)) { // Create temp directory to store log this->CreateLogsDir(); @@ -1111,7 +1111,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogOverwrite)) ///////////////////////////////////////////////// // TODO(chapulina) Record updated log -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogControlLevels)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogControlLevels)) { auto logPath = common::joinPaths(PROJECT_SOURCE_PATH, "test", "media", "levels_log"); @@ -1250,7 +1250,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogControlLevels)) } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogCompress)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogCompress)) { // Create temp directory to store log this->CreateLogsDir(); @@ -1356,7 +1356,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogCompress)) } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogCompressOverwrite)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogCompressOverwrite)) { // Create temp directory to store log this->CreateLogsDir(); @@ -1402,7 +1402,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogCompressOverwrite)) } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogCompressCmdLine)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogCompressCmdLine)) { #ifndef __APPLE__ // Create temp directory to store log @@ -1482,7 +1482,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogCompressCmdLine)) } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) { // Create temp directory to store log this->CreateLogsDir(); @@ -1495,9 +1495,9 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) // Change environment variable so that downloaded fuel files aren't written // to $HOME std::string homeOrig; - common::env(IGN_HOMEDIR, homeOrig); + common::env(GZ_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeFake.c_str())); const std::string recordPath = this->logDir; std::string statePath = common::joinPaths(recordPath, "state.tlog"); @@ -1562,14 +1562,14 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) "models", "x2 config 1"))); // Revert environment variable after test is done - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeOrig.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeOrig.c_str())); // Remove artifacts this->RemoveLogsDir(); } ///////////////////////////////////////////////// -TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogTopics)) +TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogTopics)) { // Create temp directory to store log this->CreateLogsDir(); @@ -1582,9 +1582,9 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogTopics)) // Change environment variable so that downloaded fuel files aren't written // to $HOME std::string homeOrig; - common::env(IGN_HOMEDIR, homeOrig); + common::env(GZ_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(gz::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(gz::common::setenv(GZ_HOMEDIR, homeFake.c_str())); const std::string recordPath = this->logDir; std::string statePath = common::joinPaths(recordPath, "state.tlog"); diff --git a/test/integration/logical_audio_sensor_plugin.cc b/test/integration/logical_audio_sensor_plugin.cc index 3dec628163..07ce41a987 100644 --- a/test/integration/logical_audio_sensor_plugin.cc +++ b/test/integration/logical_audio_sensor_plugin.cc @@ -52,7 +52,7 @@ class LogicalAudioTest : public InternalFixture<::testing::Test> // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(LogicalAudioTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalAudioDetections)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(LogicalAudioDetections)) { ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + @@ -207,7 +207,7 @@ TEST_F(LogicalAudioTest, "world/logical_audio_sensor/model/source_model/sensor/source_1"); } -TEST_F(LogicalAudioTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalAudioServices)) +TEST_F(LogicalAudioTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogicalAudioServices)) { ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + diff --git a/test/integration/logical_camera_system.cc b/test/integration/logical_camera_system.cc index 54381541ad..c3154ac527 100644 --- a/test/integration/logical_camera_system.cc +++ b/test/integration/logical_camera_system.cc @@ -68,7 +68,7 @@ void logicalCamera2Cb(const msgs::LogicalCameraImage &_msg) // This test checks that both logical cameras in the world can see a box // at the correct relative pose. // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(LogicalCameraTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalCameraBox)) +TEST_F(LogicalCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LogicalCameraBox)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/magnetometer_system.cc b/test/integration/magnetometer_system.cc index 4ffafd7eec..6399d2bec4 100644 --- a/test/integration/magnetometer_system.cc +++ b/test/integration/magnetometer_system.cc @@ -62,7 +62,7 @@ void magnetometerCb(const msgs::Magnetometer &_msg) ///////////////////////////////////////////////// // The test checks the detected field from a rotated magnetometer // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(MagnetometerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RotatedMagnetometer)) +TEST_F(MagnetometerTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RotatedMagnetometer)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/model_photo_shoot_default_joints.cc b/test/integration/model_photo_shoot_default_joints.cc index 6c18c24797..d29e121027 100644 --- a/test/integration/model_photo_shoot_default_joints.cc +++ b/test/integration/model_photo_shoot_default_joints.cc @@ -21,7 +21,7 @@ // Test the Model Photo Shoot plugin on the example world. TEST_F(ModelPhotoShootTest, - IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelPhotoShootDefaultJoints)) + GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelPhotoShootDefaultJoints)) { this->ModelPhotoShootTestCmd( "examples/worlds/model_photo_shoot.sdf"); diff --git a/test/integration/model_photo_shoot_random_joints.cc b/test/integration/model_photo_shoot_random_joints.cc index 782e84a9f9..9529c70b78 100644 --- a/test/integration/model_photo_shoot_random_joints.cc +++ b/test/integration/model_photo_shoot_random_joints.cc @@ -21,7 +21,7 @@ // Test the Model Photo Shoot plugin on the example world. TEST_F(ModelPhotoShootTest, - IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelPhotoShootRandomJoints)) + GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelPhotoShootRandomJoints)) { this->ModelPhotoShootTestCmd( "test/worlds/model_photo_shoot_random_joints.sdf"); diff --git a/test/integration/multicopter.cc b/test/integration/multicopter.cc index 23c020990a..edd6f57f6d 100644 --- a/test/integration/multicopter.cc +++ b/test/integration/multicopter.cc @@ -69,7 +69,7 @@ class MulticopterTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // Test that commanded motor speed is applied // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(MulticopterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CommandedMotorSpeed)) +TEST_F(MulticopterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(CommandedMotorSpeed)) { // Start server auto server = this->StartServer("/test/worlds/quadcopter.sdf"); @@ -136,7 +136,7 @@ TEST_F(MulticopterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CommandedMotorSpeed)) ///////////////////////////////////////////////// TEST_F(MulticopterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MulticopterVelocityControl)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MulticopterVelocityControl)) { // Start server auto server = @@ -245,7 +245,7 @@ TEST_F(MulticopterTest, // Test the interactions between MulticopterVelocityControl and // MulticopterMotorModel TEST_F(MulticopterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelAndVelocityControlInteraction)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelAndVelocityControlInteraction)) { // Start server auto server = @@ -321,7 +321,7 @@ TEST_F(MulticopterTest, ///////////////////////////////////////////////// TEST_F(MulticopterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MulticopterVelocityControlNestedModel)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MulticopterVelocityControlNestedModel)) { // test that the drone is able to take off when carrying a payload // (nexted model) with extra mass. diff --git a/test/integration/multiple_servers.cc b/test/integration/multiple_servers.cc index 63f2243ca7..eba1fbf675 100644 --- a/test/integration/multiple_servers.cc +++ b/test/integration/multiple_servers.cc @@ -61,7 +61,7 @@ TEST_P(MultipleServers, TwoServersNonBlocking) EXPECT_TRUE(server2.Run(false, 500, false)); while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_EQ(iters1, *server1.IterationCount()); EXPECT_EQ(500u, *server2.IterationCount()); @@ -94,7 +94,7 @@ TEST_P(MultipleServers, TwoServersMixedBlocking) server2.Run(true, 1000, false); while (*server1.IterationCount() < 10) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_EQ(10u, *server1.IterationCount()); EXPECT_EQ(1000u, *server2.IterationCount()); diff --git a/test/integration/navsat_system.cc b/test/integration/navsat_system.cc index 32cb035d14..28d2b7da83 100644 --- a/test/integration/navsat_system.cc +++ b/test/integration/navsat_system.cc @@ -60,7 +60,7 @@ void navsatCb(const msgs::NavSat &_msg) ///////////////////////////////////////////////// // The test checks the world pose and sensor readings of a falling navsat -TEST_F(NavSatTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) +TEST_F(NavSatTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) { TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "navsat.sdf")); diff --git a/test/integration/nested_model_physics.cc b/test/integration/nested_model_physics.cc index f1593abfe1..9870b20fb4 100644 --- a/test/integration/nested_model_physics.cc +++ b/test/integration/nested_model_physics.cc @@ -43,7 +43,7 @@ class NestedModelPhysicsTest : public InternalFixture<::testing::Test> /// Test that a tower of 3 boxes built with an and further nesting /// moves appropriately with joints in dartsim // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(NestedModelPhysicsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Movement)) +TEST_F(NestedModelPhysicsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Movement)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/network_handshake.cc b/test/integration/network_handshake.cc index 090b1ea438..75d2370f4b 100644 --- a/test/integration/network_handshake.cc +++ b/test/integration/network_handshake.cc @@ -69,7 +69,7 @@ class NetworkHandshake : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(NetworkHandshake, IGN_UTILS_TEST_DISABLED_ON_WIN32(Handshake)) +TEST_F(NetworkHandshake, GZ_UTILS_TEST_DISABLED_ON_WIN32(Handshake)) { ServerConfig serverConfig; serverConfig.SetSdfString(TestWorldSansPhysics::World()); @@ -125,7 +125,7 @@ TEST_F(NetworkHandshake, IGN_UTILS_TEST_DISABLED_ON_WIN32(Handshake)) } ///////////////////////////////////////////////// -TEST_F(NetworkHandshake, IGN_UTILS_TEST_DISABLED_ON_WIN32(Updates)) +TEST_F(NetworkHandshake, GZ_UTILS_TEST_DISABLED_ON_WIN32(Updates)) { auto pluginElem = std::make_shared(); pluginElem->SetName("plugin"); diff --git a/test/integration/odometry_publisher.cc b/test/integration/odometry_publisher.cc index d305b5dd48..2529cbc674 100644 --- a/test/integration/odometry_publisher.cc +++ b/test/integration/odometry_publisher.cc @@ -549,7 +549,7 @@ class OdometryPublisherTest ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Movement)) +TEST_P(OdometryPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Movement)) { TestMovement( std::string(PROJECT_SOURCE_PATH) + "/test/worlds/odometry_publisher.sdf", @@ -558,7 +558,7 @@ TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Movement)) ///////////////////////////////////////////////// TEST_P(OdometryPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MovementCustomTopic)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MovementCustomTopic)) { TestMovement( std::string(PROJECT_SOURCE_PATH) + @@ -567,7 +567,7 @@ TEST_P(OdometryPublisherTest, } ///////////////////////////////////////////////// -TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Movement3d)) +TEST_P(OdometryPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Movement3d)) { TestMovement3d( gz::common::joinPaths(PROJECT_SOURCE_PATH, @@ -576,7 +576,7 @@ TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Movement3d)) } ///////////////////////////////////////////////// -TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) +TEST_P(OdometryPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) { TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + "/test/worlds/odometry_publisher.sdf", @@ -587,7 +587,7 @@ TEST_P(OdometryPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomFrameId)) ///////////////////////////////////////////////// TEST_P(OdometryPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(OdomCustomFrameId)) { TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + @@ -599,7 +599,7 @@ TEST_P(OdometryPublisherTest, ///////////////////////////////////////////////// TEST_P(OdometryPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(OffsetTagTest)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(OffsetTagTest)) { TestOffsetTags( std::string(PROJECT_SOURCE_PATH) + @@ -609,7 +609,7 @@ TEST_P(OdometryPublisherTest, ///////////////////////////////////////////////// TEST_P(OdometryPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(GaussianNoiseTest)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(GaussianNoiseTest)) { TestGaussianNoise( std::string(PROJECT_SOURCE_PATH) + diff --git a/test/integration/optical_tactile_plugin.cc b/test/integration/optical_tactile_plugin.cc index 47fa1c46af..bf3c801cf4 100644 --- a/test/integration/optical_tactile_plugin.cc +++ b/test/integration/optical_tactile_plugin.cc @@ -88,7 +88,7 @@ class OpticalTactilePluginTest : public InternalFixture<::testing::Test> // The test checks the normal forces on the corners of the box-shaped sensor // Fails to load Ogre plugin on macOS TEST_F(OpticalTactilePluginTest, - IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ForcesOnPlane)) + GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ForcesOnPlane)) { // World with moving entities const auto sdfPath = common::joinPaths( diff --git a/test/integration/particle_emitter.cc b/test/integration/particle_emitter.cc index 82f5786d5b..75fbc59410 100644 --- a/test/integration/particle_emitter.cc +++ b/test/integration/particle_emitter.cc @@ -60,7 +60,7 @@ class ParticleEmitterTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // Load an SDF with a particle emitter and verify its properties. // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(ParticleEmitterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDFLoad)) +TEST_F(ParticleEmitterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDFLoad)) { bool updateCustomChecked{false}; bool updateDefaultChecked{false}; diff --git a/test/integration/perfect_comms.cc b/test/integration/perfect_comms.cc index 07fa1e7995..b812bf76cc 100644 --- a/test/integration/perfect_comms.cc +++ b/test/integration/perfect_comms.cc @@ -37,7 +37,7 @@ class PerfectCommsTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(PerfectCommsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PerfectComms)) +TEST_F(PerfectCommsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PerfectComms)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/performer_detector.cc b/test/integration/performer_detector.cc index 840135af5d..2b5e36ce75 100644 --- a/test/integration/performer_detector.cc +++ b/test/integration/performer_detector.cc @@ -62,7 +62,7 @@ class PerformerDetectorTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // Test that commanded motor speed is applied // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(PerformerDetectorTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MovingPerformer)) +TEST_F(PerformerDetectorTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(MovingPerformer)) { auto server = this->StartServer("/test/worlds/performer_detector.sdf"); @@ -194,7 +194,7 @@ TEST_F(PerformerDetectorTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MovingPerformer)) // Test that Performer detector handles the case where the associated model is // removed, for example, by the level manager TEST_F(PerformerDetectorTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(HandlesRemovedParentModel)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(HandlesRemovedParentModel)) { auto server = this->StartServer("/test/worlds/performer_detector.sdf", true); diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc index fe95700ae4..8675968128 100644 --- a/test/integration/physics_system.cc +++ b/test/integration/physics_system.cc @@ -120,7 +120,7 @@ TEST_F(PhysicsSystemFixture, CreatePhysicsWorld) //////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(FallingObject)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(FallingObject)) { gz::sim::ServerConfig serverConfig; @@ -189,7 +189,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(FallingObject)) // This tests whether links with fixed joints keep their relative transforms // after physics. For that to work properly, the canonical link implementation // must be correct. -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) { gz::sim::ServerConfig serverConfig; @@ -261,7 +261,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) ///////////////////////////////////////////////// // Same as the CanonicalLink test, but with a non-default canonical link TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(NonDefaultCanonicalLink)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(NonDefaultCanonicalLink)) { gz::sim::ServerConfig serverConfig; @@ -316,7 +316,7 @@ TEST_F(PhysicsSystemFixture, ///////////////////////////////////////////////// // Test physics integration with revolute joints -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) { gz::sim::ServerConfig serverConfig; @@ -395,7 +395,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) } ///////////////////////////////////////////////// -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateRuntime)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(CreateRuntime)) { gz::sim::ServerConfig serverConfig; sim::Server server(serverConfig); @@ -479,7 +479,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateRuntime)) ///////////////////////////////////////////////// TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SetFrictionCoefficient)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SetFrictionCoefficient)) { gz::sim::ServerConfig serverConfig; @@ -565,7 +565,7 @@ TEST_F(PhysicsSystemFixture, ///////////////////////////////////////////////// /// Test that joint position reported by the physics system include all axes TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MultiAxisJointPosition)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MultiAxisJointPosition)) { gz::sim::ServerConfig serverConfig; @@ -645,7 +645,7 @@ TEST_F(PhysicsSystemFixture, ///////////////////////////////////////////////// /// Test joint position reset component TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ResetPositionComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ResetPositionComponent)) { gz::sim::ServerConfig serverConfig; @@ -745,7 +745,7 @@ TEST_F(PhysicsSystemFixture, ///////////////////////////////////////////////// /// Test joint veocity reset component TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ResetVelocityComponent)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ResetVelocityComponent)) { gz::sim::ServerConfig serverConfig; @@ -1217,7 +1217,7 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointEffortLimitsCommandComponent) } ///////////////////////////////////////////////// -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) { gz::sim::ServerConfig serverConfig; @@ -1288,7 +1288,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) ///////////////////////////////////////////////// // This tests whether nested models can be loaded correctly -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModel)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(NestedModel)) { gz::sim::ServerConfig serverConfig; @@ -1394,7 +1394,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModel)) // This tests whether nested models can be loaded correctly TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelDartsim)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelDartsim)) { std::string path = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models"; gz::common::setenv("GZ_SIM_RESOURCE_PATH", path.c_str()); @@ -1537,7 +1537,7 @@ TEST_F(PhysicsSystemFixture, // This tests whether nested models can be loaded correctly TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelTPE)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelTPE)) { std::string path = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models"; gz::common::setenv("GZ_SIM_RESOURCE_PATH", path.c_str()); @@ -1680,7 +1680,7 @@ TEST_F(PhysicsSystemFixture, // This tests whether the poses of nested models are updated correctly TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModelIndividualCanonicalLinks)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(NestedModelIndividualCanonicalLinks)) { gz::sim::ServerConfig serverConfig; @@ -1782,7 +1782,7 @@ TEST_F(PhysicsSystemFixture, ///////////////////////////////////////////////// TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultPhysicsOptions)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(DefaultPhysicsOptions)) { gz::sim::ServerConfig serverConfig; @@ -1869,7 +1869,7 @@ TEST_F(PhysicsSystemFixture, PhysicsOptions) // This tests whether pose updates are correct for a model whose canonical link // changes, but other links do not TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MovingCanonicalLinkOnly)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MovingCanonicalLinkOnly)) { gz::sim::ServerConfig serverConfig; @@ -1996,7 +1996,7 @@ TEST_F(PhysicsSystemFixture, } ///////////////////////////////////////////////// -TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(Heightmap)) +TEST_F(PhysicsSystemFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(Heightmap)) { gz::sim::ServerConfig serverConfig; @@ -2078,7 +2078,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(Heightmap)) ///////////////////////////////////////////////// // Joint force TEST_F(PhysicsSystemFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointTransmittedWrench)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointTransmittedWrench)) { common::Console::SetVerbosity(4); gz::sim::ServerConfig serverConfig; @@ -2200,7 +2200,7 @@ TEST_F(PhysicsSystemFixture, ///////////////////////////////////////////////// // Test that joint velocity limit is applied TEST_F(PhysicsSystemFixtureWithDart6_10, - IGN_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityLimitTest)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(JointVelocityLimitTest)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/pose_publisher_system.cc b/test/integration/pose_publisher_system.cc index 3d02f4c3e2..b6ae446c08 100644 --- a/test/integration/pose_publisher_system.cc +++ b/test/integration/pose_publisher_system.cc @@ -100,7 +100,7 @@ std::string addDelimiter(const std::vector &_name, ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) +TEST_F(PosePublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) { // Start server ServerConfig serverConfig; @@ -322,7 +322,7 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) } ///////////////////////////////////////////////// -TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UpdateFrequency)) +TEST_F(PosePublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(UpdateFrequency)) { // Start server ServerConfig serverConfig; @@ -387,7 +387,7 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UpdateFrequency)) } ///////////////////////////////////////////////// -TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StaticPosePublisher)) +TEST_F(PosePublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(StaticPosePublisher)) { // Start server ServerConfig serverConfig; @@ -644,7 +644,7 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StaticPosePublisher)) ///////////////////////////////////////////////// TEST_F(PosePublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(StaticPoseUpdateFrequency)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(StaticPoseUpdateFrequency)) { // Start server ServerConfig serverConfig; @@ -712,7 +712,7 @@ TEST_F(PosePublisherTest, ///////////////////////////////////////////////// TEST_F(PosePublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModelLoadPlugin)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(NestedModelLoadPlugin)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/recreate_entities.cc b/test/integration/recreate_entities.cc index 6794257099..4cb3aa30c6 100644 --- a/test/integration/recreate_entities.cc +++ b/test/integration/recreate_entities.cc @@ -54,7 +54,7 @@ class RecreateEntitiesFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// TEST_F(RecreateEntitiesFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(RecreateEntities)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(RecreateEntities)) { // Start server ServerConfig serverConfig; @@ -324,7 +324,7 @@ TEST_F(RecreateEntitiesFixture, ///////////////////////////////////////////////// TEST_F(RecreateEntitiesFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(RecreateEntities_Joints)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(RecreateEntities_Joints)) { // Start server ServerConfig serverConfig; @@ -483,7 +483,7 @@ TEST_F(RecreateEntitiesFixture, ///////////////////////////////////////////////// TEST_F(RecreateEntitiesFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(RecreateEntities_WorldJoint)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(RecreateEntities_WorldJoint)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/reset.cc b/test/integration/reset.cc index 58eff74e92..7914f9db9f 100644 --- a/test/integration/reset.cc +++ b/test/integration/reset.cc @@ -92,7 +92,7 @@ void worldReset() ///////////////////////////////////////////////// /// This test checks that that the physics system handles cases where entities /// are removed and then added back -TEST_F(ResetFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(HandleReset)) +TEST_F(ResetFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(HandleReset)) { gz::sim::ServerConfig serverConfig; diff --git a/test/integration/rf_comms.cc b/test/integration/rf_comms.cc index d25cd2e9e2..cc0bcc01e0 100644 --- a/test/integration/rf_comms.cc +++ b/test/integration/rf_comms.cc @@ -38,7 +38,7 @@ class RFCommsTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(RFCommsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RFComms)) +TEST_F(RFCommsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RFComms)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc index c1d31d247b..e29af32c29 100644 --- a/test/integration/rgbd_camera.cc +++ b/test/integration/rgbd_camera.cc @@ -61,7 +61,7 @@ void depthCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks the Rgbd Camera readings when it faces a box -TEST_F(RgbdCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraBox)) +TEST_F(RgbdCameraTest, GZ_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraBox)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/save_world.cc b/test/integration/save_world.cc index d83474aaba..e3280316cc 100644 --- a/test/integration/save_world.cc +++ b/test/integration/save_world.cc @@ -89,7 +89,7 @@ class SdfGeneratorFixture : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(SdfGeneratorFixture, - IGN_UTILS_TEST_DISABLED_ON_WIN32(WorldWithModelsSpawnedAfterLoad)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(WorldWithModelsSpawnedAfterLoad)) { this->LoadWorld("test/worlds/save_world.sdf"); @@ -217,7 +217,7 @@ TEST_F(SdfGeneratorFixture, ///////////////////////////////////////////////// // Test segfaults on Mac at startup, possible collision with test above? TEST_F(SdfGeneratorFixture, - IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelSpawnedWithNewName)) + GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelSpawnedWithNewName)) { this->LoadWorld("test/worlds/save_world.sdf"); diff --git a/test/integration/scene_broadcaster_system.cc b/test/integration/scene_broadcaster_system.cc index 809a5119a9..533e5dd32f 100644 --- a/test/integration/scene_broadcaster_system.cc +++ b/test/integration/scene_broadcaster_system.cc @@ -44,7 +44,7 @@ class SceneBroadcasterTest ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo)) { // Start server gz::sim::ServerConfig serverConfig; @@ -88,13 +88,13 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo)) // cppcheck-suppress unmatchedSuppression // cppcheck-suppress knownConditionTrueFalse while (!received && sleep++ < maxSleep) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_TRUE(received); } ///////////////////////////////////////////////// -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) { // Start server gz::sim::ServerConfig serverConfig; @@ -140,7 +140,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) } ///////////////////////////////////////////////// -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph)) { // Start server gz::sim::ServerConfig serverConfig; @@ -180,7 +180,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph)) ///////////////////////////////////////////////// /// Test whether the scene topic is published only when new entities are added -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopic)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SceneTopic)) { // Start server gz::sim::ServerConfig serverConfig; @@ -225,7 +225,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopic)) ///////////////////////////////////////////////// /// Test whether the scene topic is published only when new entities are added TEST_P(SceneBroadcasterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopicSensors)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SceneTopicSensors)) { // Start server gz::sim::ServerConfig serverConfig; @@ -276,7 +276,7 @@ TEST_P(SceneBroadcasterTest, ///////////////////////////////////////////////// /// Test whether the scene topic is published only when new entities are added -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeletedTopic)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DeletedTopic)) { // Start server gz::sim::ServerConfig serverConfig; @@ -336,7 +336,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeletedTopic)) ///////////////////////////////////////////////// /// Test whether the scene is updated when a model is spawned. -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel)) { // Start server gz::sim::ServerConfig serverConfig; @@ -406,7 +406,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel)) } ///////////////////////////////////////////////// -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(State)) { // Start server gz::sim::ServerConfig serverConfig; @@ -474,7 +474,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) unsigned int maxSleep{30u}; while (!received && sleep++ < maxSleep) { - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); server.Run(true, 1, false); } @@ -491,7 +491,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) // cppcheck-suppress unmatchedSuppression // cppcheck-suppress knownConditionTrueFalse while (!received && sleep++ < maxSleep) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_TRUE(received); EXPECT_TRUE(node.Unsubscribe("/world/default/state")); @@ -511,13 +511,13 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) { // Run server server.Run(true, 1, false); - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); } EXPECT_TRUE(received); } ///////////////////////////////////////////////// -TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic)) +TEST_P(SceneBroadcasterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(StateStatic)) { // Start server gz::sim::ServerConfig serverConfig; @@ -598,7 +598,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic)) unsigned int maxSleep{30u}; while (!received && sleep++ < maxSleep) { - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); server.Run(true, 1, false); } @@ -615,7 +615,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic)) // cppcheck-suppress unmatchedSuppression // cppcheck-suppress knownConditionTrueFalse while (!received && sleep++ < maxSleep) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_TRUE(received); } @@ -623,7 +623,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic)) /// Test whether the scene topic is published when entities and components are /// removed/added TEST_P(SceneBroadcasterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(AddRemoveEntitiesComponents)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(AddRemoveEntitiesComponents)) { // Start server gz::sim::ServerConfig serverConfig; @@ -821,7 +821,7 @@ TEST_P(SceneBroadcasterTest, // cppcheck-suppress unmatchedSuppression // cppcheck-suppress knownConditionTrueFalse while (!received && sleep++ < maxSleep) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_TRUE(received); EXPECT_EQ(_shouldHaveState, hasState); }; @@ -866,7 +866,7 @@ TEST_P(SceneBroadcasterTest, // cppcheck-suppress unmatchedSuppression // cppcheck-suppress knownConditionTrueFalse while (!received && sleep++ < maxSleep) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); EXPECT_TRUE(received); EXPECT_TRUE(hasState); @@ -877,7 +877,7 @@ TEST_P(SceneBroadcasterTest, ///////////////////////////////////////////////// // Tests https://github.com/ignitionrobotics/ign-gazebo/issues/1414 TEST_P(SceneBroadcasterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(DecimalStateHertz)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(DecimalStateHertz)) { // Start server std::string sdfStr = R"( @@ -916,7 +916,7 @@ TEST_P(SceneBroadcasterTest, ///////////////////////////////////////////////// TEST_P(SceneBroadcasterTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfoHasSceneSdf)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SceneInfoHasSceneSdf)) { // Start server sim::ServerConfig serverConfig; diff --git a/test/integration/sdf_frame_semantics.cc b/test/integration/sdf_frame_semantics.cc index 40374cb97f..14d9e3b46f 100644 --- a/test/integration/sdf_frame_semantics.cc +++ b/test/integration/sdf_frame_semantics.cc @@ -138,7 +138,7 @@ class SdfFrameSemanticsTest : public InternalFixture<::testing::Test> }; // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(SdfFrameSemanticsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LinkRelativeTo)) +TEST_F(SdfFrameSemanticsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(LinkRelativeTo)) { const std::string modelSdf = R"sdf( @@ -164,8 +164,8 @@ TEST_F(SdfFrameSemanticsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LinkRelativeTo)) EXPECT_NE(link2, kNullEntity); // Expect the pose of L2 relative to model to be 0 0 1 0 0 pi - gz::math::Pose3d expRelPose(0, 0, 1, 0, 0, IGN_PI); - gz::math::Pose3d expWorldPose(0, 0, 3, 0, 0, IGN_PI); + gz::math::Pose3d expRelPose(0, 0, 1, 0, 0, GZ_PI); + gz::math::Pose3d expWorldPose(0, 0, 3, 0, 0, GZ_PI); EXPECT_EQ(expRelPose, this->GetPose(link2)); @@ -500,7 +500,7 @@ TEST_F(SdfFrameSemanticsTest, NestedModelsRelativeTo) } TEST_F(SdfFrameSemanticsTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelsRelativeToTPE)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelsRelativeToTPE)) { std::string path = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models"; gz::common::setenv("GZ_SIM_RESOURCE_PATH", path.c_str()); @@ -563,7 +563,7 @@ TEST_F(SdfFrameSemanticsTest, } TEST_F(SdfFrameSemanticsTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelsRelativeToDartsim)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(IncludeNestedModelsRelativeToDartsim)) { std::string path = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models"; gz::common::setenv("GZ_SIM_RESOURCE_PATH", path.c_str()); diff --git a/test/integration/sdf_include.cc b/test/integration/sdf_include.cc index f98779687b..10db34e976 100644 --- a/test/integration/sdf_include.cc +++ b/test/integration/sdf_include.cc @@ -34,7 +34,7 @@ class SdfInclude : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(SdfInclude, IGN_UTILS_TEST_DISABLED_ON_WIN32(DownloadFromFuel)) +TEST_F(SdfInclude, GZ_UTILS_TEST_DISABLED_ON_WIN32(DownloadFromFuel)) { std::string path = common::cwd() + "/test_cache"; diff --git a/test/integration/sensors_system.cc b/test/integration/sensors_system.cc index b6fb9e75fc..f76e021483 100644 --- a/test/integration/sensors_system.cc +++ b/test/integration/sensors_system.cc @@ -158,7 +158,7 @@ void testDefaultTopics() ///////////////////////////////////////////////// /// This test checks that that the sensors system handles cases where entities /// are removed and then added back -TEST_F(SensorsFixture, IGN_UTILS_TEST_DISABLED_ON_MAC(HandleRemovedEntities)) +TEST_F(SensorsFixture, GZ_UTILS_TEST_DISABLED_ON_MAC(HandleRemovedEntities)) { gz::sim::ServerConfig serverConfig; diff --git a/test/integration/sensors_system_battery.cc b/test/integration/sensors_system_battery.cc index 5067c29914..2d856d3ad4 100644 --- a/test/integration/sensors_system_battery.cc +++ b/test/integration/sensors_system_battery.cc @@ -82,7 +82,7 @@ class SensorsFixture : public InternalFixture> ///////////////////////////////////////////////// // Battery -TEST_F(SensorsFixture, IGN_UTILS_TEST_DISABLED_ON_MAC(SensorsBatteryState)) +TEST_F(SensorsFixture, GZ_UTILS_TEST_DISABLED_ON_MAC(SensorsBatteryState)) { const auto sdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "sensors_system_battery.sdf"); diff --git a/test/integration/shader_param_system.cc b/test/integration/shader_param_system.cc index 7ab4778665..b9db7fd51f 100644 --- a/test/integration/shader_param_system.cc +++ b/test/integration/shader_param_system.cc @@ -60,7 +60,7 @@ void imageCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks camera image data to verify that the sphere is using // custom material shaders -TEST_F(ShaderParamTest, IGN_UTILS_TEST_DISABLED_ON_MAC(ShaderParam)) +TEST_F(ShaderParamTest, GZ_UTILS_TEST_DISABLED_ON_MAC(ShaderParam)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/spherical_coordinates.cc b/test/integration/spherical_coordinates.cc index 200820d289..54c37f6143 100644 --- a/test/integration/spherical_coordinates.cc +++ b/test/integration/spherical_coordinates.cc @@ -86,7 +86,7 @@ TEST_F(SphericalCoordinatesTest, InitialFromSDF) ///////////////////////////////////////////////// TEST_F(SphericalCoordinatesTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SetWorldOriginFromTransport)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SetWorldOriginFromTransport)) { TestFixture fixture(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/spherical_coordinates.sdf"); @@ -179,8 +179,8 @@ TEST_F(SphericalCoordinatesTest, SetWorldOriginFromComponent) World world(entity); world.SetSphericalCoordinates(_ecm, math::SphericalCoordinates( - math::SphericalCoordinates::EARTH_WGS84, IGN_DTOR(52.2), - IGN_DTOR(21.0), 789.0, 0)); + math::SphericalCoordinates::EARTH_WGS84, GZ_DTOR(52.2), + GZ_DTOR(21.0), 789.0, 0)); }); fixture.Server()->Run(true, 1, false); @@ -193,7 +193,7 @@ TEST_F(SphericalCoordinatesTest, SetWorldOriginFromComponent) } ///////////////////////////////////////////////// -TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MoveEntity)) +TEST_F(SphericalCoordinatesTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(MoveEntity)) { TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "spherical_coordinates.sdf")); @@ -264,7 +264,7 @@ TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MoveEntity)) } ///////////////////////////////////////////////// -TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity)) +TEST_F(SphericalCoordinatesTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity)) { TestFixture fixture(common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "spherical_coordinates.sdf")); @@ -324,7 +324,7 @@ TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity)) auto scMsg = req.mutable_spherical_coordinates(); scMsg->set_latitude_deg(desiredLat); scMsg->set_longitude_deg(desiredLon); - scMsg->set_heading_deg(IGN_RTOD(desiredHeading)); + scMsg->set_heading_deg(GZ_RTOD(desiredHeading)); msgs::Boolean res; bool result; diff --git a/test/integration/thermal_sensor_system.cc b/test/integration/thermal_sensor_system.cc index 7cf0e302a5..72f3e7da3b 100644 --- a/test/integration/thermal_sensor_system.cc +++ b/test/integration/thermal_sensor_system.cc @@ -74,7 +74,7 @@ void thermalCb(const msgs::Image &_msg) ///////////////////////////////////////////////// TEST_F(ThermalSensorTest, - IGN_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystemInvalidConfig)) + GZ_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystemInvalidConfig)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/thermal_system.cc b/test/integration/thermal_system.cc index a704fb1b2d..48c3f52b11 100644 --- a/test/integration/thermal_system.cc +++ b/test/integration/thermal_system.cc @@ -49,7 +49,7 @@ class ThermalTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(TemperatureComponent)) +TEST_F(ThermalTest, GZ_UTILS_TEST_DISABLED_ON_MAC(TemperatureComponent)) { // Start server ServerConfig serverConfig; @@ -173,7 +173,7 @@ TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(TemperatureComponent)) } ///////////////////////////////////////////////// -TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystem)) +TEST_F(ThermalTest, GZ_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystem)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc index 8bc11041d0..7585fae2fb 100644 --- a/test/integration/thruster.cc +++ b/test/integration/thruster.cc @@ -258,7 +258,7 @@ void ThrusterTest::TestWorld(const std::string &_world, } ///////////////////////////////////////////////// -TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(AngVelCmdControl)) +TEST_F(ThrusterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(AngVelCmdControl)) { auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_ang_vel_cmd.sdf"); @@ -268,7 +268,7 @@ TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(AngVelCmdControl)) } ///////////////////////////////////////////////// -TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CcwForceCmdControl)) +TEST_F(ThrusterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(CcwForceCmdControl)) { auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_ccw_force_cmd.sdf"); @@ -279,7 +279,7 @@ TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CcwForceCmdControl)) } ///////////////////////////////////////////////// -TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CcwAngVelCmdControl)) +TEST_F(ThrusterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(CcwAngVelCmdControl)) { auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_ccw_ang_vel_cmd.sdf"); @@ -291,7 +291,7 @@ TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CcwAngVelCmdControl)) ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PIDControl)) +TEST_F(ThrusterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PIDControl)) { auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_pid.sdf"); @@ -302,7 +302,7 @@ TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PIDControl)) } ///////////////////////////////////////////////// -TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(VelocityControl)) +TEST_F(ThrusterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(VelocityControl)) { auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_vel_cmd.sdf"); @@ -312,7 +312,7 @@ TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(VelocityControl)) } ///////////////////////////////////////////////// -TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(BatteryIntegration)) +TEST_F(ThrusterTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(BatteryIntegration)) { auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_battery.sdf"); diff --git a/test/integration/touch_plugin.cc b/test/integration/touch_plugin.cc index d52b029865..5610f8d585 100644 --- a/test/integration/touch_plugin.cc +++ b/test/integration/touch_plugin.cc @@ -49,7 +49,7 @@ class TouchPluginTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OneLink)) +TEST_F(TouchPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(OneLink)) { this->StartServer("/test/worlds/touch_plugin.sdf"); @@ -107,7 +107,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OneLink)) } ////////////////////////////////////////////////// -TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MultiLink)) +TEST_F(TouchPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(MultiLink)) { this->StartServer("/test/worlds/touch_plugin.sdf"); @@ -139,7 +139,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MultiLink)) } ////////////////////////////////////////////////// -TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StartDisabled)) +TEST_F(TouchPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(StartDisabled)) { this->StartServer("/test/worlds/touch_plugin.sdf"); @@ -187,7 +187,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StartDisabled)) } ////////////////////////////////////////////////// -TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RemovalOfParentModel)) +TEST_F(TouchPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RemovalOfParentModel)) { this->StartServer("/test/worlds/touch_plugin.sdf"); @@ -226,7 +226,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RemovalOfParentModel)) /// Tests whether the plugin works when it is spawned after other entities have /// already been created and vice versa /// This test uses depends on the user_commands system -TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedEntities)) +TEST_F(TouchPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SpawnedEntities)) { std::string whiteBox = R"EOF( diff --git a/test/integration/tracked_vehicle_system.cc b/test/integration/tracked_vehicle_system.cc index ffb5f09a7d..255e59fc97 100644 --- a/test/integration/tracked_vehicle_system.cc +++ b/test/integration/tracked_vehicle_system.cc @@ -565,7 +565,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(TrackedVehicleTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) +TEST_F(TrackedVehicleTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) { this->TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + @@ -575,7 +575,7 @@ TEST_F(TrackedVehicleTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) } ///////////////////////////////////////////////// -TEST_F(TrackedVehicleTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Conveyor)) +TEST_F(TrackedVehicleTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Conveyor)) { this->TestConveyor( std::string(PROJECT_SOURCE_PATH) + diff --git a/test/integration/triggered_camera.cc b/test/integration/triggered_camera.cc index 9f2d46a455..61bac140bf 100644 --- a/test/integration/triggered_camera.cc +++ b/test/integration/triggered_camera.cc @@ -67,7 +67,7 @@ void imageCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks the Triggered Camera readings TEST_F(TriggeredCameraTest, - IGN_UTILS_TEST_DISABLED_ON_MAC(TriggeredCameraBox)) + GZ_UTILS_TEST_DISABLED_ON_MAC(TriggeredCameraBox)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/triggered_publisher.cc b/test/integration/triggered_publisher.cc index a092ca66f6..ab1ad4e1a8 100644 --- a/test/integration/triggered_publisher.cc +++ b/test/integration/triggered_publisher.cc @@ -93,7 +93,7 @@ bool waitUntil(int _timeoutMs, Pred _pred) /// configuration // See https://github.com/gazebosim/gz-sim/issues/1175 TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(EmptyInputEmptyOutput)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(EmptyInputEmptyOutput)) { transport::Node node; auto inputPub = node.Advertise("/in_0"); @@ -104,7 +104,7 @@ TEST_F(TriggeredPublisherTest, ++recvCount; }); node.Subscribe("/out_0", msgCb); - IGN_SLEEP_MS(100ms); + GZ_SLEEP_MS(100ms); const std::size_t pubCount{10}; for (std::size_t i = 0; i < pubCount; ++i) @@ -118,7 +118,7 @@ TEST_F(TriggeredPublisherTest, ///////////////////////////////////////////////// TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(WrongInputMessageTypeDoesNotMatch)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(WrongInputMessageTypeDoesNotMatch)) { transport::Node node; auto inputPub = node.Advertise("/in_0"); @@ -142,7 +142,7 @@ TEST_F(TriggeredPublisherTest, ///////////////////////////////////////////////// TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(InputMessagesTriggerOutputs)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(InputMessagesTriggerOutputs)) { transport::Node node; auto inputPub = node.Advertise("/in_1"); @@ -159,7 +159,7 @@ TEST_F(TriggeredPublisherTest, for (std::size_t i = 0; i < pubCount; ++i) { EXPECT_TRUE(inputPub.Publish(msgs::Empty())); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } waitUntil(5000, [&]{return pubCount == recvCount;}); @@ -168,7 +168,7 @@ TEST_F(TriggeredPublisherTest, ///////////////////////////////////////////////// TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MultipleOutputsForOneInput)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MultipleOutputsForOneInput)) { transport::Node node; auto inputPub = node.Advertise("/in_2"); @@ -194,7 +194,7 @@ TEST_F(TriggeredPublisherTest, for (int i = 0; i < pubCount; ++i) { EXPECT_TRUE(inputPub.Publish(msgs::Empty())); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } waitUntil(5000, [&] @@ -214,7 +214,7 @@ TEST_F(TriggeredPublisherTest, ///////////////////////////////////////////////// TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(ExactMatchBooleanInputs)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(ExactMatchBooleanInputs)) { transport::Node node; auto inputPub = node.Advertise("/in_3"); @@ -238,7 +238,7 @@ TEST_F(TriggeredPublisherTest, { EXPECT_TRUE(inputPub.Publish(msgs::Convert(false))); } - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The matcher filters out false messages and the inputs consist of 5 true and @@ -248,7 +248,7 @@ TEST_F(TriggeredPublisherTest, ///////////////////////////////////////////////// TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MatchersWithLogicTypeAttribute)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MatchersWithLogicTypeAttribute)) { transport::Node node; auto inputPub = node.Advertise("/in_4"); @@ -273,7 +273,7 @@ TEST_F(TriggeredPublisherTest, { EXPECT_TRUE(inputPub.Publish( msgs::Convert(static_cast(i - pubCount / 2)))); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The negative matcher filters out 0 so we expect 9 output messages from the // 10 inputs @@ -285,7 +285,7 @@ TEST_F(TriggeredPublisherTest, ///////////////////////////////////////////////// TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(MultipleMatchersAreAnded)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(MultipleMatchersAreAnded)) { transport::Node node; auto inputPub = node.Advertise("/in_5"); @@ -302,7 +302,7 @@ TEST_F(TriggeredPublisherTest, { EXPECT_TRUE(inputPub.Publish( msgs::Convert(static_cast(i - pubCount / 2)))); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The matcher filters out negative numbers and the input is [-5,4], so we // expect 5 output messages. @@ -310,7 +310,7 @@ TEST_F(TriggeredPublisherTest, } ///////////////////////////////////////////////// -TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(FieldMatchers)) +TEST_F(TriggeredPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(FieldMatchers)) { transport::Node node; auto inputPub = node.Advertise("/in_6"); @@ -337,7 +337,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(FieldMatchers)) { msg.set_y(static_cast(i)); EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The first plugin matches x==1 and y==2 which only once out of the 10 inputs @@ -350,7 +350,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(FieldMatchers)) /// Tests that if the specified field is a repeated field, a partial match is /// used when comparing against the input. TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32( + GZ_UTILS_TEST_DISABLED_ON_WIN32( FieldMatchersWithRepeatedFieldsUsePartialMatches)) { transport::Node node; @@ -378,7 +378,7 @@ TEST_F(TriggeredPublisherTest, other->set_key("other_key"); other->add_value("other_value"); EXPECT_TRUE(inputPub.Publish(poseMsg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The matcher filters out frame ids that are not frame0, so we expect 1 @@ -389,7 +389,7 @@ TEST_F(TriggeredPublisherTest, } TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(WrongInputWhenRepeatedSubFieldExpected)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(WrongInputWhenRepeatedSubFieldExpected)) { transport::Node node; auto inputPub = node.Advertise("/in_7"); @@ -400,14 +400,14 @@ TEST_F(TriggeredPublisherTest, ++recvCount; }); node.Subscribe("/out_7", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; msgs::Empty msg; for (int i = 0; i < pubCount; ++i) { EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } EXPECT_EQ(0u, recvCount); @@ -418,7 +418,7 @@ TEST_F(TriggeredPublisherTest, /// fields by specifying the containing field of the repeated field in the /// "field" attribute and setting the desired values of the repeated field in /// the value of the tag. -TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( +TEST_F(TriggeredPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32( FieldMatchersWithRepeatedFieldsInValueUseFullMatches)) { transport::Node node; @@ -430,7 +430,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( ++recvCount; }); node.Subscribe("/out_8", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; for (int i = 0; i < pubCount; ++i) @@ -447,7 +447,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( other->add_value("other_value"); } EXPECT_TRUE(inputPub.Publish(poseMsg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // Since the field specified in "field" is not a repeated field, a full match @@ -460,7 +460,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( /// Tests that full matchers can be used with repeated fields by specifying the /// desired values of the repeated field in the value of the tag. The /// message created from the value of must be a full match of the input. -TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( +TEST_F(TriggeredPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32( FullMatchersWithRepeatedFieldsInValueUseFullMatches)) { transport::Node node; @@ -472,7 +472,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( ++recvCount; }); node.Subscribe("/out_9", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; msgs::Int32_V msg; @@ -480,7 +480,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( { msg.add_data(i); EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The input contains an increasing sets of sequences, {0}, {0,1}, {0,1,2}... @@ -489,7 +489,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32( } TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(FullMatchersAcceptToleranceParam)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(FullMatchersAcceptToleranceParam)) { transport::Node node; auto inputPub = node.Advertise("/in_10"); @@ -500,7 +500,7 @@ TEST_F(TriggeredPublisherTest, ++recvCount; }); node.Subscribe("/out_10", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; msgs::Float msg; @@ -508,7 +508,7 @@ TEST_F(TriggeredPublisherTest, { msg.set_data(static_cast(i)* 0.1); EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The input contains the sequence {0, 0.1, 0.2, ...}, the matcher is set to @@ -517,7 +517,7 @@ TEST_F(TriggeredPublisherTest, } TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(FieldMatchersAcceptToleranceParam)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(FieldMatchersAcceptToleranceParam)) { transport::Node node; auto inputPub = node.Advertise("/in_11"); @@ -528,7 +528,7 @@ TEST_F(TriggeredPublisherTest, ++recvCount; }); node.Subscribe("/out_11", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; msgs::Pose msg; @@ -537,7 +537,7 @@ TEST_F(TriggeredPublisherTest, msg.mutable_position()->set_x(0.1); msg.mutable_position()->set_z(static_cast(i)* 0.1); EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // The input contains the sequence {0, 0.1, 0.2, ...} in position.z, the @@ -547,7 +547,7 @@ TEST_F(TriggeredPublisherTest, } TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(SubfieldsOfRepeatedFieldsNotSupported)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(SubfieldsOfRepeatedFieldsNotSupported)) { transport::Node node; auto inputPub = node.Advertise("/in_12"); @@ -558,7 +558,7 @@ TEST_F(TriggeredPublisherTest, ++recvCount; }); node.Subscribe("/out_12", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; for (int i = 0; i < pubCount; ++i) @@ -569,7 +569,7 @@ TEST_F(TriggeredPublisherTest, data->add_value("value1"); EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } // Subfields of repeated fiealds are not supported, so no output should be @@ -577,7 +577,7 @@ TEST_F(TriggeredPublisherTest, EXPECT_EQ(0u, recvCount); } -TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TriggerDelay)) +TEST_F(TriggeredPublisherTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TriggerDelay)) { transport::Node node; auto inputPub = node.Advertise("/in_13"); @@ -588,7 +588,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TriggerDelay)) ++recvCount; }); node.Subscribe("/out_13", msgCb); - IGN_SLEEP_MS(100ms); + GZ_SLEEP_MS(100ms); const std::size_t pubCount{10}; for (std::size_t i = 0; i < pubCount; ++i) @@ -613,7 +613,7 @@ TEST_F(TriggeredPublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TriggerDelay)) } TEST_F(TriggeredPublisherTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(WrongInputWhenRepeatedFieldExpected)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(WrongInputWhenRepeatedFieldExpected)) { transport::Node node; auto inputPub = node.Advertise("/invalid_topic"); @@ -624,7 +624,7 @@ TEST_F(TriggeredPublisherTest, ++recvCount; }); node.Subscribe("/out_9", msgCb); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); const int pubCount{10}; msgs::Int32 msg; @@ -632,7 +632,7 @@ TEST_F(TriggeredPublisherTest, { msg.set_data(i); EXPECT_TRUE(inputPub.Publish(msg)); - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); } EXPECT_EQ(0u, recvCount); diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc index bb8ca61271..8c2a0f92fe 100644 --- a/test/integration/user_commands.cc +++ b/test/integration/user_commands.cc @@ -53,7 +53,7 @@ class UserCommandsTest : public InternalFixture<::testing::Test> ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Create)) { // Start server ServerConfig serverConfig; @@ -332,7 +332,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create)) } ///////////////////////////////////////////////// -TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Remove)) { // Start server ServerConfig serverConfig; @@ -520,7 +520,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove)) } ///////////////////////////////////////////////// -TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Pose)) { // Start server ServerConfig serverConfig; @@ -685,7 +685,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose)) server.Run(false, 1, true); // Sleep for a small duration to allow Run thread to start - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); poseComp = ecm->Component(boxEntity); ASSERT_NE(nullptr, poseComp); @@ -694,7 +694,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose)) ///////////////////////////////////////////////// -TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseVector)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PoseVector)) { // Start server ServerConfig serverConfig; @@ -769,7 +769,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseVector)) ///////////////////////////////////////////////// // https://github.com/gazebosim/gz-sim/issues/634 -TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) { // Start server ServerConfig serverConfig; @@ -846,7 +846,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) server.Run(true, 100, false); // Sleep for a small duration to allow Run thread to start - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); // Check point light entity has been edited using the service pointLightComp = ecm->Component(pointLightEntity); @@ -916,7 +916,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) server.Run(true, 100, false); // Sleep for a small duration to allow Run thread to start - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); // Check directional light entity has been edited using the service directionalLightComp = @@ -995,7 +995,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) server.Run(true, 100, false); // Sleep for a small duration to allow Run thread to start - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); // Check spot light entity has been edited using the service spotLightComp = ecm->Component(spotLightEntity); @@ -1032,14 +1032,14 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light)) server.Run(true, 100, false); // Sleep for a small duration to allow Run thread to start - IGN_SLEEP_MS(10); + GZ_SLEEP_MS(10); EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), spotLightComp->Data().Diffuse()); } ///////////////////////////////////////////////// -TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Physics)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Physics)) { // Start server ServerConfig serverConfig; @@ -1118,7 +1118,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Physics)) } ///////////////////////////////////////////////// -TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(WheelSlip)) +TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(WheelSlip)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/velocity_control_system.cc b/test/integration/velocity_control_system.cc index d87cabbf15..d047c34853 100644 --- a/test/integration/velocity_control_system.cc +++ b/test/integration/velocity_control_system.cc @@ -232,7 +232,7 @@ class VelocityControlTest ///////////////////////////////////////////////// // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_P(VelocityControlTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) +TEST_P(VelocityControlTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) { TestPublishCmd( std::string(PROJECT_SOURCE_PATH) + "/test/worlds/velocity_control.sdf", @@ -240,7 +240,7 @@ TEST_P(VelocityControlTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) } ///////////////////////////////////////////////// -TEST_P(VelocityControlTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishLinkCmd)) +TEST_P(VelocityControlTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PublishLinkCmd)) { TestPublishLinkCmd( std::string(PROJECT_SOURCE_PATH) + "/test/worlds/velocity_control.sdf", diff --git a/test/integration/wheel_slip.cc b/test/integration/wheel_slip.cc index 16de2d4417..63f5f6a09f 100644 --- a/test/integration/wheel_slip.cc +++ b/test/integration/wheel_slip.cc @@ -105,7 +105,7 @@ class WheelSlipTest : public InternalFixture<::testing::Test> }; // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) +TEST_F(WheelSlipTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) { const double metersPerMile = 1609.34; const double secondsPerHour = 3600.0; @@ -371,7 +371,7 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) server.Run(true, 250, false); } -TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) +TEST_F(WheelSlipTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) { ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc index b08bb94259..e8932e3bbc 100644 --- a/test/integration/wide_angle_camera.cc +++ b/test/integration/wide_angle_camera.cc @@ -61,7 +61,7 @@ void imageCb(const msgs::Image &_msg) ///////////////////////////////////////////////// // The test checks the Wide Angle Camera readings -TEST_F(WideAngleCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(WideAngleCameraBox)) +TEST_F(WideAngleCameraTest, GZ_UTILS_TEST_DISABLED_ON_MAC(WideAngleCameraBox)) { // Start server ServerConfig serverConfig; diff --git a/test/integration/wind_effects.cc b/test/integration/wind_effects.cc index a45ed9999a..b5ce8c5635 100644 --- a/test/integration/wind_effects.cc +++ b/test/integration/wind_effects.cc @@ -186,7 +186,7 @@ class BlockingPublisher ///////////////////////////////////////////////// /// Check if 'enable_wind' set only in works // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST_F(WindEffectsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(WindEnabledInModel)) +TEST_F(WindEffectsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(WindEnabledInModel)) { this->StartServer("/test/worlds/wind_effects.sdf"); @@ -203,7 +203,7 @@ TEST_F(WindEffectsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(WindEnabledInModel)) ///////////////////////////////////////////////// /// Check if 'enable_wind' set only in works -TEST_F(WindEffectsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(WindEnabledInLink)) +TEST_F(WindEffectsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(WindEnabledInLink)) { this->StartServer("/test/worlds/wind_effects.sdf"); @@ -219,7 +219,7 @@ TEST_F(WindEffectsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(WindEnabledInLink)) } //////////////////////////////////////////////// -TEST_F(WindEffectsTest , IGN_UTILS_TEST_DISABLED_ON_WIN32(WindForce)) +TEST_F(WindEffectsTest , GZ_UTILS_TEST_DISABLED_ON_WIN32(WindForce)) { this->StartServer("/test/worlds/wind_effects.sdf"); LinkComponentRecorder linkAccelerations( @@ -256,7 +256,7 @@ TEST_F(WindEffectsTest , IGN_UTILS_TEST_DISABLED_ON_WIN32(WindForce)) } //////////////////////////////////////////////// -TEST_F(WindEffectsTest , IGN_UTILS_TEST_DISABLED_ON_WIN32(ComplexWindForce)) +TEST_F(WindEffectsTest , GZ_UTILS_TEST_DISABLED_ON_WIN32(ComplexWindForce)) { this->StartServer("/test/worlds/sea_storm_effects.sdf"); LinkComponentRecorder @@ -298,7 +298,7 @@ TEST_F(WindEffectsTest , IGN_UTILS_TEST_DISABLED_ON_WIN32(ComplexWindForce)) } //////////////////////////////////////////////// -TEST_F(WindEffectsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TopicsAndServices)) +TEST_F(WindEffectsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(TopicsAndServices)) { using namespace std::chrono_literals; @@ -366,7 +366,7 @@ TEST_F(WindEffectsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TopicsAndServices)) /// Test if adding a link with wind after first iteration adds /// WorldLinearVelocity component properly TEST_F(WindEffectsTest, - IGN_UTILS_TEST_DISABLED_ON_WIN32(WindEntityAddedAfterStart)) + GZ_UTILS_TEST_DISABLED_ON_WIN32(WindEntityAddedAfterStart)) { const std::string windBox = R"EOF( diff --git a/test/integration/world_control_state.cc b/test/integration/world_control_state.cc index 11afc199ae..0c0c9d0102 100644 --- a/test/integration/world_control_state.cc +++ b/test/integration/world_control_state.cc @@ -39,7 +39,7 @@ class WorldControlState : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -TEST_F(WorldControlState, IGN_UTILS_TEST_DISABLED_ON_WIN32(SetState)) +TEST_F(WorldControlState, GZ_UTILS_TEST_DISABLED_ON_WIN32(SetState)) { common::Console::SetVerbosity(4); @@ -108,7 +108,7 @@ TEST_F(WorldControlState, IGN_UTILS_TEST_DISABLED_ON_WIN32(SetState)) unsigned int sleep = 0u; unsigned int maxSleep = 30u; while (!received && sleep++ < maxSleep) - IGN_SLEEP_MS(100); + GZ_SLEEP_MS(100); // Run again, and the test system should now find an entity with the name // "box" diff --git a/test/performance/level_manager.cc b/test/performance/level_manager.cc index 8aed25add1..8c9c10e7c8 100644 --- a/test/performance/level_manager.cc +++ b/test/performance/level_manager.cc @@ -32,7 +32,7 @@ using namespace gz; using namespace sim; // See https://github.com/gazebosim/gz-sim/issues/1175 -TEST(LevelManagerPerfrormance, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelVsNoLevel)) +TEST(LevelManagerPerfrormance, GZ_UTILS_TEST_DISABLED_ON_WIN32(LevelVsNoLevel)) { using namespace std::chrono; diff --git a/test/plugins/EventTriggerSystem.cc b/test/plugins/EventTriggerSystem.cc index 873a02f83b..824c85ebe4 100644 --- a/test/plugins/EventTriggerSystem.cc +++ b/test/plugins/EventTriggerSystem.cc @@ -2,7 +2,7 @@ #include -IGNITION_ADD_PLUGIN(gz::sim::EventTriggerSystem, +GZ_ADD_PLUGIN(gz::sim::EventTriggerSystem, gz::sim::System, gz::sim::EventTriggerSystem::ISystemConfigure, gz::sim::EventTriggerSystem::ISystemUpdate) diff --git a/test/plugins/MockSystem.cc b/test/plugins/MockSystem.cc index f654b3b275..4b787d1bd6 100644 --- a/test/plugins/MockSystem.cc +++ b/test/plugins/MockSystem.cc @@ -2,7 +2,7 @@ #include -IGNITION_ADD_PLUGIN(gz::sim::MockSystem, gz::sim::System, +GZ_ADD_PLUGIN(gz::sim::MockSystem, gz::sim::System, gz::sim::MockSystem::ISystemConfigure, gz::sim::MockSystem::ISystemReset, gz::sim::MockSystem::ISystemPreUpdate, diff --git a/test/plugins/Null.cc b/test/plugins/Null.cc index 1b0c958cbd..5194a7b594 100644 --- a/test/plugins/Null.cc +++ b/test/plugins/Null.cc @@ -56,11 +56,11 @@ void Null::PostUpdate(const UpdateInfo &/*_info*/, { } -IGNITION_ADD_PLUGIN(Null, +GZ_ADD_PLUGIN(Null, gz::sim::System, Null::ISystemConfigure, Null::ISystemPreUpdate, Null::ISystemUpdate, Null::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(Null, "gz::sim::systems::Null") +GZ_ADD_PLUGIN_ALIAS(Null, "gz::sim::systems::Null") diff --git a/test/plugins/Null.hh b/test/plugins/Null.hh index 1819410d13..0f5dd01df3 100644 --- a/test/plugins/Null.hh +++ b/test/plugins/Null.hh @@ -31,7 +31,7 @@ namespace sim inline namespace GZ_SIM_VERSION_NAMESPACE { namespace systems { - /// \class Null Null.hh ignition/gazebo/systems/Null.hh + /// \class Null Null.hh gz/sim/systems/Null.hh /// \brief Minimal system implementation class Null: public System, @@ -69,5 +69,3 @@ namespace systems } } #endif - - diff --git a/test/plugins/TestModelSystem.cc b/test/plugins/TestModelSystem.cc index 1e759bb438..3f966d9e5b 100644 --- a/test/plugins/TestModelSystem.cc +++ b/test/plugins/TestModelSystem.cc @@ -18,7 +18,7 @@ #include -IGNITION_ADD_PLUGIN(gz::sim::TestModelSystem, +GZ_ADD_PLUGIN(gz::sim::TestModelSystem, gz::sim::System, gz::sim::TestModelSystem::ISystemConfigure) diff --git a/test/plugins/TestModelSystem.hh b/test/plugins/TestModelSystem.hh index b805632bc0..4c672b6170 100644 --- a/test/plugins/TestModelSystem.hh +++ b/test/plugins/TestModelSystem.hh @@ -33,7 +33,7 @@ namespace components { using ModelPluginComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("ModelPluginComponent", +GZ_SIM_REGISTER_COMPONENT("ModelPluginComponent", ModelPluginComponent) } } diff --git a/test/plugins/TestSensorSystem.cc b/test/plugins/TestSensorSystem.cc index 318e4cb67e..48e0591cc4 100644 --- a/test/plugins/TestSensorSystem.cc +++ b/test/plugins/TestSensorSystem.cc @@ -18,7 +18,7 @@ #include -IGNITION_ADD_PLUGIN(gz::sim::TestSensorSystem, +GZ_ADD_PLUGIN(gz::sim::TestSensorSystem, gz::sim::System, gz::sim::TestSensorSystem::ISystemConfigure) diff --git a/test/plugins/TestSensorSystem.hh b/test/plugins/TestSensorSystem.hh index ee69d326f1..a5195c7389 100644 --- a/test/plugins/TestSensorSystem.hh +++ b/test/plugins/TestSensorSystem.hh @@ -32,7 +32,7 @@ namespace components { using SensorPluginComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("SensorPluginComponent", +GZ_SIM_REGISTER_COMPONENT("SensorPluginComponent", SensorPluginComponent) } } diff --git a/test/plugins/TestSystem.cc b/test/plugins/TestSystem.cc index bada8e76a2..61f8a566b3 100644 --- a/test/plugins/TestSystem.cc +++ b/test/plugins/TestSystem.cc @@ -32,6 +32,6 @@ TestSystem::TestSystem() TestSystem::~TestSystem() = default; // Register this plugin -IGNITION_ADD_PLUGIN(TestSystem, gz::sim::System) +GZ_ADD_PLUGIN(TestSystem, gz::sim::System) -IGNITION_ADD_PLUGIN_ALIAS(TestSystem, "gz::sim::TestSystem") +GZ_ADD_PLUGIN_ALIAS(TestSystem, "gz::sim::TestSystem") diff --git a/test/plugins/TestVisualSystem.cc b/test/plugins/TestVisualSystem.cc index 0305aed9c9..d31be965fa 100644 --- a/test/plugins/TestVisualSystem.cc +++ b/test/plugins/TestVisualSystem.cc @@ -18,6 +18,6 @@ #include -IGNITION_ADD_PLUGIN(gz::sim::TestVisualSystem, +GZ_ADD_PLUGIN(gz::sim::TestVisualSystem, gz::sim::System, gz::sim::TestVisualSystem::ISystemConfigure) diff --git a/test/plugins/TestVisualSystem.hh b/test/plugins/TestVisualSystem.hh index b1eca65133..d3f0c4745e 100644 --- a/test/plugins/TestVisualSystem.hh +++ b/test/plugins/TestVisualSystem.hh @@ -32,7 +32,7 @@ namespace components { using VisualPluginComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("VisualPluginComponent", +GZ_SIM_REGISTER_COMPONENT("VisualPluginComponent", VisualPluginComponent) } } diff --git a/test/plugins/TestWorldSystem.cc b/test/plugins/TestWorldSystem.cc index 408c42f5ce..d4182d8cdd 100644 --- a/test/plugins/TestWorldSystem.cc +++ b/test/plugins/TestWorldSystem.cc @@ -18,7 +18,7 @@ #include -IGNITION_ADD_PLUGIN(gz::sim::TestWorldSystem, +GZ_ADD_PLUGIN(gz::sim::TestWorldSystem, gz::sim::System, gz::sim::TestWorldSystem::ISystemConfigure, gz::sim::TestWorldSystem::ISystemUpdate) diff --git a/test/plugins/TestWorldSystem.hh b/test/plugins/TestWorldSystem.hh index 0f26b1cfb6..078430f7a9 100644 --- a/test/plugins/TestWorldSystem.hh +++ b/test/plugins/TestWorldSystem.hh @@ -30,7 +30,7 @@ namespace components { using WorldPluginComponent = components::Component; -IGN_GAZEBO_REGISTER_COMPONENT("WorldPluginComponent", +GZ_SIM_REGISTER_COMPONENT("WorldPluginComponent", WorldPluginComponent) } } diff --git a/test/worlds/conveyor.sdf b/test/worlds/conveyor.sdf index 8c73831592..396778c495 100644 --- a/test/worlds/conveyor.sdf +++ b/test/worlds/conveyor.sdf @@ -190,11 +190,11 @@ - + 3D View false docked - + ogre2 scene @@ -205,7 +205,7 @@ - + World control false false @@ -218,7 +218,7 @@ - + true true @@ -228,7 +228,7 @@ - + World stats false false @@ -241,7 +241,7 @@ - + true true @@ -251,7 +251,7 @@ - + Transform control @@ -263,12 +263,12 @@ floating false #666666 - + - + @@ -279,7 +279,7 @@ floating false #666666 - + diff --git a/test/worlds/revolute_joint_equilibrium.sdf b/test/worlds/revolute_joint_equilibrium.sdf index a796131e16..293af983aa 100644 --- a/test/worlds/revolute_joint_equilibrium.sdf +++ b/test/worlds/revolute_joint_equilibrium.sdf @@ -18,7 +18,7 @@ - + 3D View false false @@ -27,7 +27,7 @@ - + ogre scene @@ -38,7 +38,7 @@ - + World control false false @@ -47,7 +47,7 @@ 1 - + true true diff --git a/test/worlds/shapes.sdf b/test/worlds/shapes.sdf index eb1e3b196e..8fd01f57eb 100644 --- a/test/worlds/shapes.sdf +++ b/test/worlds/shapes.sdf @@ -10,11 +10,11 @@ - + 3D View false docked - + ogre scene diff --git a/test/worlds/shapes_scene_broadcaster_only.sdf b/test/worlds/shapes_scene_broadcaster_only.sdf index 19fd713783..3b6cd86031 100644 --- a/test/worlds/shapes_scene_broadcaster_only.sdf +++ b/test/worlds/shapes_scene_broadcaster_only.sdf @@ -17,11 +17,11 @@ - + 3D View false docked - + ogre scene diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md index 0fc529115a..d9af76f9d2 100644 --- a/tutorials/migrating_ardupilot_plugin.md +++ b/tutorials/migrating_ardupilot_plugin.md @@ -249,7 +249,7 @@ We need a few things from `ign-math`: #include ``` -To use the `IGNITION_ADD_PLUGIN()` and `IGNITION_ADD_PLUGIN_ALIAS()` macros, we +To use the `GZ_ADD_PLUGIN()` and `GZ_ADD_PLUGIN_ALIAS()` macros, we need a header from `ign-plugin`: ```cpp @@ -700,16 +700,16 @@ In the old code we register our plugin via the macro `GZ_REGISTER_PLUGIN()`: GZ_REGISTER_MODEL_PLUGIN(ArduPilotPlugin) ``` -In the new code we instead use two macros: `IGNITION_ADD_PLUGIN()` and `IGNITION_ADD_PLUGIN_ALIAS()`: +In the new code we instead use two macros: `GZ_ADD_PLUGIN()` and `GZ_ADD_PLUGIN_ALIAS()`: ```cpp // NEW -IGNITION_ADD_PLUGIN(gz::sim::systems::ArduPilotPlugin, +GZ_ADD_PLUGIN(gz::sim::systems::ArduPilotPlugin, gz::sim::System, gz::sim::systems::ArduPilotPlugin::ISystemConfigure, gz::sim::systems::ArduPilotPlugin::ISystemPostUpdate, gz::sim::systems::ArduPilotPlugin::ISystemPreUpdate) -IGNITION_ADD_PLUGIN_ALIAS(gz::sim::systems::ArduPilotPlugin,"ArduPilotPlugin") +GZ_ADD_PLUGIN_ALIAS(gz::sim::systems::ArduPilotPlugin,"ArduPilotPlugin") ``` ## Build recipe: `CMakeLists.txt` diff --git a/tutorials/migration_plugins.md b/tutorials/migration_plugins.md index 28e585fe18..7beb7e68e3 100644 --- a/tutorials/migration_plugins.md +++ b/tutorials/migration_plugins.md @@ -147,14 +147,14 @@ class MyPlugin }; // Register plugin -IGNITION_ADD_PLUGIN(MyPlugin, +GZ_ADD_PLUGIN(MyPlugin, gz::sim::System, MyPlugin::ISystemConfigure, MyPlugin::ISystemPostUpdate) // Add plugin alias so that we can refer to the plugin without the version // namespace -IGNITION_ADD_PLUGIN_ALIAS(MyPlugin, "gz::sim::systems::MyPlugin") +GZ_ADD_PLUGIN_ALIAS(MyPlugin, "gz::sim::systems::MyPlugin") ``` The example above uses headers like `Model.hh` and `Util.hh`, which offer @@ -229,12 +229,12 @@ class MyPlugin private: Entity linkEntity; }; -IGNITION_ADD_PLUGIN(MyPlugin, +GZ_ADD_PLUGIN(MyPlugin, gz::sim::System, MyPlugin::ISystemConfigure, MyPlugin::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(MyPlugin, "gz::sim::systems::MyPlugin") +GZ_ADD_PLUGIN_ALIAS(MyPlugin, "gz::sim::systems::MyPlugin") ``` In summary, the key differences between Gazebo Classic and Gazebo are: