Merge branch 'ign-common4' into lock_console

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-common4 VERSION 4.2.0)
+project(ignition-common4 VERSION 4.4.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -14,7 +14,7 @@ set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project()
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -1,6 +1,35 @@
 ## Ignition Common 4.x
 
-## Ignition Common 4.X.X (202X-XX-XX)
+## Ignition Common 4.4.0 (2021-10-15)
+
+1. Add support for animation tension 
+    * [Pull request #256](https://github.com/ignitionrobotics/ign-common/pull/256)
+
+## Ignition Common 4.3.0 (2021-09-27)
+
+1. Remove ign-utils from TempDirectory
+    * [Pull request #248](https://github.com/ignitionrobotics/ign-common/pull/248)
+
+1. Add functions and objects for Temporary Directories
+    * [Pull request #244](https://github.com/ignitionrobotics/ign-common/pull/244)
+
+1. Fix memory corruption & leaks in Image
+    * [Pull request #240](https://github.com/ignitionrobotics/ign-common/pull/240)
+
+1. Fix a typo in VideoEncoder_TEST.
+    * [Pull request #231](https://github.com/ignitionrobotics/ign-common/pull/231)
+
+1. Fix segfault caused by destruction order of Event and Connection
+    * [Pull request #234](https://github.com/ignitionrobotics/ign-common/pull/234)
+
+1. Infrastructure
+    * [Pull request #62](https://github.com/ignitionrobotics/ign-common/pull/62)
+    * [Pull request #55](https://github.com/ignitionrobotics/ign-common/pull/55)
+    * [Pull request #241](https://github.com/ignitionrobotics/ign-common/pull/241)
+
+1. Documentation
+    * [Pull request #252](https://github.com/ignitionrobotics/ign-common/pull/252)
+    * [Pull request #253](https://github.com/ignitionrobotics/ign-common/pull/253)
 
 ## Ignition Common 4.2.0 (2021-08-02)
 

README.md

@@ -88,7 +88,7 @@ Refer to the following table for information about important directories and fil
 # Contributing
 
 Please see
-[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CONTRIBUTING.md).
+[CONTRIBUTING.md](https://ignitionrobotics.org/docs/all/contributing).
 
 # Code of Conduct
 

graphics/include/ignition/common/Animation.hh

@@ -117,6 +117,21 @@ namespace ignition
       public: PoseAnimation(const std::string &_name,
                   const double _length, const bool _loop);
 
+      /// \brief Constructor
+      /// \param[in] _name String name of the animation. This should be unique.
+      /// \param[in] _length Length of the animation in seconds
+      /// \param[in] _loop True == loop the animation
+      /// \param[in] _tension The tension of the trajectory spline. The
+      /// default value of zero equates to a Catmull-Rom spline, which may
+      /// also cause the animation to overshoot keyframes. A value of one will
+      /// cause the animation to stick to the keyframes. This value should
+      /// be in the range 0..1.
+      /// \todo(nkoenig) Remove this in ign-common5, and use a single
+      /// consutrctory with a default _tension of 0.
+      public: PoseAnimation(const std::string &_name,
+                  const double _length, const bool _loop,
+                  double _tension);
+
       /// \brief Create a pose keyframe at the given time
       /// \param[in] _time Time at which to create the keyframe
       /// \return Pointer to the new keyframe
@@ -234,6 +249,18 @@ namespace ignition
           std::map<std::chrono::steady_clock::time_point, math::Pose3d>
            _waypoints);
 
+      /// \brief Load all waypoints in the trajectory
+      /// \param[in] _waypoints Map of waypoints, where the key is the absolute
+      /// time of the waypoint and the value is the pose.
+      /// \param[in] _tension The tension of the trajectory spline. The
+      /// default value of zero equates to a Catmull-Rom spline, which may
+      /// also cause the animation to overshoot keyframes. A value of one will
+      /// cause the animation to stick to the keyframes. This value should
+      /// be in the range 0..1.
+      public: void SetWaypoints(
+          std::map<std::chrono::steady_clock::time_point, math::Pose3d>
+           _waypoints, double _tension);
+
       /// \brief Private data pointer.
       IGN_UTILS_IMPL_PTR(dataPtr)
     };

graphics/include/ignition/common/MeshManager.hh

@@ -100,6 +100,15 @@ namespace ignition
       /// \param[in] the mesh to add.
       public: void AddMesh(Mesh *_mesh);
 
+      /// \brief Remove a mesh based on a name.
+      /// \param[in] _name Name of the mesh to remove.
+      /// \return True if the mesh was removed, false if the mesh with the
+      /// provided name could not be found.
+      public: bool RemoveMesh(const std::string &_name);
+
+      /// \brief Remove all meshes.
+      public: void RemoveAll();
+
       /// \brief Get a mesh by name.
       /// \param[in] _name the name of the mesh to look for
       /// \return the mesh or nullptr if not found

graphics/src/Animation.cc

@@ -91,6 +91,9 @@ class PoseAnimation::Implementation
 
   /// \brief determines if the interpolation splines need building
   public: bool build{false};
+
+  /// \brief Spline tension parameter.
+  public: double tension{0.0};
 };
 
 /////////////////////////////////////////////////
@@ -290,6 +293,15 @@ PoseAnimation::PoseAnimation(const std::string &_name, const double _length,
 {
 }
 
+/////////////////////////////////////////////////
+PoseAnimation::PoseAnimation(const std::string &_name, const double _length,
+    const bool _loop, double _tension)
+: Animation(_name, _length, _loop),
+  dataPtr(ignition::utils::MakeImpl<Implementation>())
+{
+  this->dataPtr->tension = math::clamp(_tension, 0.0, 1.0);
+}
+
 /////////////////////////////////////////////////
 PoseKeyFrame *PoseAnimation::CreateKeyFrame(const double _time)
 {
@@ -309,6 +321,7 @@ void PoseAnimation::BuildInterpolationSplines()
   this->dataPtr->positionSpline->AutoCalculate(false);
   this->dataPtr->rotationSpline->AutoCalculate(false);
 
+  this->dataPtr->positionSpline->Tension(this->dataPtr->tension);
   this->dataPtr->positionSpline->Clear();
   this->dataPtr->rotationSpline->Clear();
 
@@ -511,6 +524,15 @@ common::PoseAnimation *TrajectoryInfo::Waypoints() const
 void TrajectoryInfo::SetWaypoints(
     std::map<std::chrono::steady_clock::time_point, math::Pose3d> _waypoints)
 {
+  this->SetWaypoints(_waypoints, 0.0);
+}
+
+/////////////////////////////////////////////////
+void TrajectoryInfo::SetWaypoints(
+    std::map<std::chrono::steady_clock::time_point, math::Pose3d> _waypoints,
+    double _tension)
+{
+  _tension = math::clamp(_tension, 0.0, 1.0);
   this->dataPtr->segDistance.clear();
 
   auto first = _waypoints.begin();
@@ -523,7 +545,7 @@ void TrajectoryInfo::SetWaypoints(
   animName << this->AnimIndex() << "_" << this->Id();
   std::shared_ptr<common::PoseAnimation> anim =
       std::make_shared<common::PoseAnimation>(animName.str(),
-      std::chrono::duration<double>(this->Duration()).count(), false);
+      std::chrono::duration<double>(this->Duration()).count(), false, _tension);
 
   auto prevPose = first->second.Pos();
   for (auto pIter = _waypoints.begin(); pIter != _waypoints.end(); ++pIter)

graphics/src/Animation_TEST.cc

@@ -87,6 +87,30 @@ TEST_F(AnimationTest, PoseAnimation)
       math::Quaterniond(0.0302776, 0.0785971, 0.109824));
 }
 
+/////////////////////////////////////////////////
+TEST_F(AnimationTest, PoseAnimationTension)
+{
+  // Test using a tension value of 1.0, which should cause the pose
+  // animation to hit the key frames.
+
+  common::PoseAnimation animTension("test-tension", 10.0, false, 1.0);
+  common::PoseKeyFrame *keyTension = animTension.CreateKeyFrame(0.0);
+  keyTension->Translation(math::Vector3d(0, 0, 0));
+  keyTension->Rotation(math::Quaterniond(0, 0, 0));
+
+  animTension.AddTime(5.0);
+  keyTension->Translation(math::Vector3d(10, 20, 30));
+  keyTension->Rotation(math::Quaterniond(0.1, 0.2, 0.3));
+  animTension.Time(4.0);
+
+  common::PoseKeyFrame interpolatedKeyTension(-1.0);
+  animTension.InterpolatedKeyFrame(interpolatedKeyTension);
+  EXPECT_TRUE(interpolatedKeyTension.Translation() ==
+      math::Vector3d(10, 20, 30));
+  EXPECT_TRUE(interpolatedKeyTension.Rotation() ==
+      math::Quaterniond(0.1, 0.2, 0.3));
+}
+
 /////////////////////////////////////////////////
 TEST_F(AnimationTest, NumericAnimation)
 {

graphics/src/MeshManager.cc

@@ -241,6 +241,33 @@ const Mesh *MeshManager::MeshByName(const std::string &_name) const
   return nullptr;
 }
 
+//////////////////////////////////////////////////
+void MeshManager::RemoveAll()
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  for (auto m : this->dataPtr->meshes)
+  {
+    delete m.second;
+  }
+  this->dataPtr->meshes.clear();
+}
+
+//////////////////////////////////////////////////
+bool MeshManager::RemoveMesh(const std::string &_name)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+
+  auto iter = this->dataPtr->meshes.find(_name);
+  if (iter != this->dataPtr->meshes.end())
+  {
+    delete iter->second;
+    this->dataPtr->meshes.erase(iter);
+    return true;
+  }
+
+  return false;
+}
+
 //////////////////////////////////////////////////
 bool MeshManager::HasMesh(const std::string &_name) const
 {

graphics/src/MeshManager_TEST.cc

@@ -267,6 +267,28 @@ TEST_F(MeshManager, CreateExtrudedPolylineInvalid)
   EXPECT_TRUE(!common::MeshManager::Instance()->HasMesh(meshName));
 }
 
+/////////////////////////////////////////////////
+TEST_F(MeshManager, Remove)
+{
+  auto mgr = common::MeshManager::Instance();
+
+  EXPECT_FALSE(mgr->HasMesh("box"));
+  mgr->CreateBox("box",
+      ignition::math::Vector3d(1, 1, 1),
+      ignition::math::Vector2d(0, 0));
+  EXPECT_TRUE(mgr->HasMesh("box"));
+
+  mgr->CreateSphere("sphere", 1.0, 1, 1);
+  EXPECT_TRUE(mgr->HasMesh("sphere"));
+
+  EXPECT_TRUE(mgr->RemoveMesh("box"));
+  EXPECT_FALSE(mgr->HasMesh("box"));
+  EXPECT_TRUE(mgr->HasMesh("sphere"));
+
+  mgr->RemoveAll();
+  EXPECT_FALSE(mgr->HasMesh("sphere"));
+}
+
 /////////////////////////////////////////////////
 int main(int argc, char **argv)
 {

include/ignition/common/TempDirectory.hh

@@ -0,0 +1,111 @@
+/*
+ * Copyright 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef IGNITION_COMMON_TEMPDIRECTORY_HH_
+#define IGNITION_COMMON_TEMPDIRECTORY_HH_
+
+#include <memory>
+#include <string>
+
+#include <ignition/common/Export.hh>
+#include <ignition/common/Filesystem.hh>
+
+namespace ignition
+{
+  namespace common
+  {
+    class TempDirectoryPrivate;
+
+    /// \brief Return the path to a directory suitable for temporary files.
+    ///
+    /// Calls std::filesystem::temp_directory_path, refer to the standard
+    /// documentation for your platform for behaviors.
+    /// \return A directory suitable for temporary files.
+    std::string IGNITION_COMMON_VISIBLE tempDirectoryPath();
+
+    /// \brief Create a directory in the tempDirectoryPath by expanding
+    /// a name template
+    ///
+    /// On execution, will create the directory:
+    ///  "_parentPath"/"_baseName" + "XXXXXX", where XXXXXX will be filled
+    /// out by an OS-appropriate method (eg mkdtmp/_mktemp_s)
+    ///
+    /// \param[in] _baseName String to be prepended to the expanded template
+    /// \param[in] _parentPath Location to create the directory
+    /// \param[in] _warningOp Allow or suppress filesystem warnings
+    /// \return Path to newly-created temporary directory
+    std::string IGNITION_COMMON_VISIBLE createTempDirectory(
+        const std::string &_baseName,
+        const std::string &_parentPath,
+        const FilesystemWarningOp _warningOp = FSWO_LOG_WARNINGS);
+
+    /// \class TempDirectory TempDirectory.hh ignitin/common/TempDirectory.hh
+    /// \brief Create a temporary directory in the OS temp location.
+    /// Upon construction, the current working directory will be set to this
+    /// new temporary directory.
+    /// Upon destruction, the current working directory will be restored to the
+    /// location when the TempDirectory object was constructed.
+    class IGNITION_COMMON_VISIBLE TempDirectory
+    {
+      /// \brief Create a directory in the tempDirectoryPath by expanding
+      /// a name template. This directory can also be automatically cleaned
+      /// up when the object goes out of scope.
+      ///
+      /// The TempDirectory will have the form $TMPDIR/_subdir/_prefixXXXXX/
+      ///
+      /// \param[in] _prefix String to be expanded for the template
+      /// \param[in] _subDir Subdirectory in OS $TMPDIR, if desired
+      /// \param[in] _cleanup True to indicate that the filesystem should
+      ///   be cleaned as part of the destructor
+      public: TempDirectory(const std::string &_prefix = "temp_dir",
+                            const std::string &_subDir = "ignition",
+                            bool _cleanup = true);
+
+      /// \brief Destroy the temporary directory, removing from filesystem
+      /// if cleanup is true.
+      public: ~TempDirectory();
+
+      /// \brief Indicate if the TempDirectory object is in a valid state
+      /// and that the folder exists on the filesystem
+      /// \return true if the TempDirectory is valid
+      public: bool Valid() const;
+
+      /// \brief Set if the folder on disk should be cleaned.
+      ///
+      /// This is useful if you wish to clean by default during a test, but
+      /// retain the contents of the TempDirectory if the test fails.
+      /// \param[in] _doCleanup True to indicate that the filesystem should
+      ///  be cleaned as part of the destructor
+      public: void DoCleanup(bool _doCleanup);
+
+      /// \brief Retrieve the current cleanup flag state
+      /// \return true if filesystem cleanup will occur
+      public: bool DoCleanup() const;
+
+      /// \brief Retrieve the fully-expanded temporary directory path
+      /// \return the temporary directory path
+      public: std::string Path() const;
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Private data pointer
+      private: std::unique_ptr<TempDirectoryPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+  }  // namespace common
+}  // namespace ignition
+#endif  // IGNITION_COMMON_TEMPDIRECTORY_HH_
+

src/Console.cc

@@ -300,7 +300,7 @@ void FileLogger::Init(const std::string &_directory,
   if (isDirectory(logPath))
     this->logDirectory = logPath;
   else
-    this->logDirectory = logPath.substr(0, logPath.rfind(separator("")));
+    this->logDirectory = common::parentPath(logPath);
 
   this->initialized = true;