diff --git a/src/gui/plugins/global_illumination_civct/GlobalIlluminationCiVct.cc b/src/gui/plugins/global_illumination_civct/GlobalIlluminationCiVct.cc index cfab7f414f..4d45df45c4 100644 --- a/src/gui/plugins/global_illumination_civct/GlobalIlluminationCiVct.cc +++ b/src/gui/plugins/global_illumination_civct/GlobalIlluminationCiVct.cc @@ -161,7 +161,6 @@ GlobalIlluminationCiVct::GlobalIlluminationCiVct() : GuiSystem(), dataPtr(new GlobalIlluminationCiVctPrivate) { - // no ops } ///////////////////////////////////////////////// diff --git a/src/gui/plugins/global_illumination_vct/GlobalIlluminationVct.cc b/src/gui/plugins/global_illumination_vct/GlobalIlluminationVct.cc index 3abbabaec4..a0644124b8 100644 --- a/src/gui/plugins/global_illumination_vct/GlobalIlluminationVct.cc +++ b/src/gui/plugins/global_illumination_vct/GlobalIlluminationVct.cc @@ -155,7 +155,6 @@ GlobalIlluminationVct::GlobalIlluminationVct() : GuiSystem(), dataPtr(new GlobalIlluminationVctPrivate) { - // no ops } ///////////////////////////////////////////////// diff --git a/src/gui/plugins/visualize_frustum/VisualizeFrustum.cc b/src/gui/plugins/visualize_frustum/VisualizeFrustum.cc index c6d7fcf766..e49ff701f2 100644 --- a/src/gui/plugins/visualize_frustum/VisualizeFrustum.cc +++ b/src/gui/plugins/visualize_frustum/VisualizeFrustum.cc @@ -24,15 +24,11 @@ #include #include -#include -#include - #include #include #include -#include #include #include @@ -43,7 +39,7 @@ #include #include "gz/sim/components/Name.hh" -#include "gz/sim/components/World.hh" +#include "gz/sim/components/ParentEntity.hh" #include "gz/sim/EntityComponentManager.hh" #include "gz/sim/Entity.hh" #include "gz/sim/rendering/RenderUtil.hh" @@ -54,11 +50,6 @@ #include "gz/rendering/Scene.hh" #include "gz/rendering/FrustumVisual.hh" -#include "gz/sim/components/Link.hh" -#include "gz/sim/components/Sensor.hh" -#include "gz/sim/components/Model.hh" -#include "gz/sim/components/ParentEntity.hh" -#include "gz/sim/components/Pose.hh" #include "gz/sim/Util.hh" namespace gz @@ -80,16 +71,13 @@ inline namespace GZ_SIM_VERSION_NAMESPACE public: rendering::FrustumVisualPtr frustum; /// \brief URI sequence to the frustum link - public: std::string frustumString{""}; - - /// \brief LaserScan message from sensor - public: msgs::LogicalCameraSensor msg; + public: std::string frustumString; /// \brief Pose of the frustum visual public: math::Pose3d frustumPose{math::Pose3d::Zero}; /// \brief Topic name to subscribe - public: std::string topicName{""}; + public: std::string topicName; /// \brief List of topics publishing LogicalCameraSensor messages. public: QStringList topicList; @@ -99,7 +87,6 @@ inline namespace GZ_SIM_VERSION_NAMESPACE /// \brief Mutex for variable mutated by the checkbox /// callbacks. - /// The variables are: msg public: std::mutex serviceMutex; /// \brief Initialization flag @@ -125,7 +112,6 @@ using namespace sim; VisualizeFrustum::VisualizeFrustum() : GuiSystem(), dataPtr(new VisualizeFrustumPrivate) { - // no ops } ///////////////////////////////////////////////// @@ -138,43 +124,13 @@ VisualizeFrustum::~VisualizeFrustum() ///////////////////////////////////////////////// void VisualizeFrustum::LoadFrustum() { - auto loadedEngNames = rendering::loadedEngines(); - if (loadedEngNames.empty()) - return; - - // assume there is only one engine loaded - auto engineName = loadedEngNames[0]; - if (loadedEngNames.size() > 1) - { - gzdbg << "More than one engine is available. " - << "VisualizeFrustum plugin will use engine [" - << engineName << "]" << std::endl; - } - auto engine = rendering::engine(engineName); - if (!engine) - { - gzerr << "Internal error: failed to load engine [" << engineName - << "]. VisualizeFrustum plugin won't work." << std::endl; - return; - } - - if (engine->SceneCount() == 0) - return; - - // assume there is only one scene - // load scene - auto scene = engine->SceneByIndex(0); + auto scene = rendering::sceneFromFirstRenderEngine(); if (!scene) { gzerr << "Internal error: scene is null." << std::endl; return; } - if (!scene->IsInitialized() || scene->VisualCount() == 0) - { - return; - } - // Create frustum visual gzdbg << "Creating frustum visual" << std::endl; auto root = scene->RootVisual(); @@ -254,17 +210,17 @@ bool VisualizeFrustum::eventFilter(QObject *_obj, QEvent *_event) void VisualizeFrustum::Update(const UpdateInfo &, EntityComponentManager &_ecm) { - GZ_PROFILE("VisualizeFrusum::Update"); + GZ_PROFILE("VisualizeFrustum::Update"); std::lock_guard lock(this->dataPtr->serviceMutex); if (this->dataPtr->frustumEntityDirty) { - auto frustumURIVec = common::split(common::trimmed( + const auto frustumURIVec = common::split(common::trimmed( this->dataPtr->frustumString), "::"); - if (frustumURIVec.size() > 0) + if (!frustumURIVec.empty()) { - auto baseEntity = _ecm.EntityByComponents( + const auto baseEntity = _ecm.EntityByComponents( components::Name(frustumURIVec[0])); if (!baseEntity) { @@ -277,22 +233,21 @@ void VisualizeFrustum::Update(const UpdateInfo &, { auto parent = baseEntity; bool success = false; - for (size_t i = 0u; i < frustumURIVec.size()-1; i++) + for (size_t i = 0u; i < frustumURIVec.size()-1; ++i) { - auto children = _ecm.EntitiesByComponents( + const auto children = _ecm.EntitiesByComponents( components::ParentEntity(parent)); bool foundChild = false; - for (auto child : children) + for (const auto child : children) { - std::string nextstring = frustumURIVec[i+1]; + const auto &nextstring = frustumURIVec[i+1]; auto comp = _ecm.Component(child); if (!comp) { continue; } - std::string childname = std::string( - comp->Data()); - if (nextstring.compare(childname) == 0) + const auto &childname = comp->Data(); + if (nextstring == childname) { parent = child; foundChild = true; @@ -322,7 +277,7 @@ void VisualizeFrustum::Update(const UpdateInfo &, // Only update frustumPose if the frustumEntity exists and the frustum is // initialized and the sensor message is yet to arrive. // - // If we update the worldpose on the physics thread **after** the sensor + // If we update the worldPose on the physics thread **after** the sensor // data arrives, the visual is offset from the obstacle if the sensor is // moving fast. if (!this->dataPtr->frustumEntityDirty && this->dataPtr->initialized && @@ -364,7 +319,7 @@ void VisualizeFrustum::DisplayVisual(bool _value) { std::lock_guard lock(this->dataPtr->serviceMutex); this->dataPtr->frustum->SetVisible(_value); - gzerr << "Frustum Visual Display " << ((_value) ? "ON." : "OFF.") + gzdbg << "Frustum Visual Display " << (_value ? "ON." : "OFF.") << std::endl; } @@ -377,12 +332,12 @@ void VisualizeFrustum::OnRefresh() // Get updated list std::vector allTopics; this->dataPtr->node.TopicList(allTopics); - for (auto topic : allTopics) + for (const auto &topic : allTopics) { std::vector publishers; std::vector subscribers; this->dataPtr->node.TopicInfo(topic, publishers, subscribers); - for (auto pub : publishers) + for (const auto &pub : publishers) { if (pub.MsgTypeName() == "gz.msgs.LogicalCameraSensor") { @@ -391,7 +346,7 @@ void VisualizeFrustum::OnRefresh() } } } - if (this->dataPtr->topicList.size() > 0) + if (!this->dataPtr->topicList.empty()) { this->OnTopic(this->dataPtr->topicList.at(0)); } @@ -418,21 +373,19 @@ void VisualizeFrustum::OnScan(const msgs::LogicalCameraSensor &_msg) std::lock_guard lock(this->dataPtr->serviceMutex); if (this->dataPtr->initialized) { - this->dataPtr->msg = std::move(_msg); - - this->dataPtr->frustum->SetNearClipPlane(this->dataPtr->msg.near_clip()); - this->dataPtr->frustum->SetFarClipPlane(this->dataPtr->msg.far_clip()); - this->dataPtr->frustum->SetHFOV(this->dataPtr->msg.horizontal_fov()); - this->dataPtr->frustum->SetAspectRatio(this->dataPtr->msg.aspect_ratio()); + this->dataPtr->frustum->SetNearClipPlane(_msg.near_clip()); + this->dataPtr->frustum->SetFarClipPlane(_msg.far_clip()); + this->dataPtr->frustum->SetHFOV(_msg.horizontal_fov()); + this->dataPtr->frustum->SetAspectRatio(_msg.aspect_ratio()); this->dataPtr->visualDirty = true; - for (auto data_values : this->dataPtr->msg.header().data()) + for (const auto &data_values : _msg.header().data()) { if (data_values.key() == "frame_id") { - if (this->dataPtr->frustumString.compare( - common::trimmed(data_values.value(0))) != 0) + if (this->dataPtr->frustumString != + common::trimmed(data_values.value(0))) { this->dataPtr->frustumString = common::trimmed(data_values.value(0)); this->dataPtr->frustumEntityDirty = true; diff --git a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc index f0e9edec2f..9dcf8d18af 100644 --- a/src/gui/plugins/visualize_lidar/VisualizeLidar.cc +++ b/src/gui/plugins/visualize_lidar/VisualizeLidar.cc @@ -127,7 +127,6 @@ using namespace sim; VisualizeLidar::VisualizeLidar() : GuiSystem(), dataPtr(new VisualizeLidarPrivate) { - // no ops } ///////////////////////////////////////////////// diff --git a/src/systems/log/LogPlayback.cc b/src/systems/log/LogPlayback.cc index b217a35142..0848fd00c5 100644 --- a/src/systems/log/LogPlayback.cc +++ b/src/systems/log/LogPlayback.cc @@ -308,7 +308,7 @@ void LogPlaybackPrivate::ReplaceResourceURIs(EntityComponentManager &_ecm) // Define equality functions for replacing component uri auto uriEqual = [&](const std::string &_s1, const std::string &_s2) -> bool { - return (_s1.compare(_s2) == 0); + return _s1 == _s2; }; auto geoUriEqual = [&](const sdf::Geometry &_g1,