Removed duplicated code with rendering::sceneFromFirstRenderEngine (#819

) Signed-off-by: ahcorde <[email protected]> Co-authored-by: Michael Carroll <[email protected]>
gazebosim · May 27, 2021 · 65e8b04 · 65e8b04
1 parent 3480302
commit 65e8b04
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Showing 4 changed files with 13 additions and 152 deletions.
diff --git a/src/gui/plugins/align_tool/AlignTool.cc b/src/gui/plugins/align_tool/AlignTool.cc
@@ -82,6 +82,9 @@ namespace ignition::gazebo
 
     /// \brief The map of the original transparency values for the nodes.
     public: std::map<std::string, double> originalTransparency;
+
+    /// \brief Pointer to the scene.
+    public: rendering::ScenePtr scene{nullptr};
   };
 }
 
@@ -316,62 +319,20 @@ void AlignTool::Align()
   if (this->dataPtr->currentState == AlignState::NONE)
     return;
 
-  auto loadedEngNames = rendering::loadedEngines();
-  if (loadedEngNames.empty())
-  {
-    ignerr << "Internal error: engine should be loaded at this point."
-      << std::endl;
-    return;
-  }
-
-  // Assume there is only one engine loaded
-  auto engineName = loadedEngNames[0];
-  if (loadedEngNames.size() > 1)
-  {
-    ignwarn << "Found more than one loaded engine "
-      "- using " << engineName << "." << std::endl;
-  }
-  auto engine = rendering::engine(engineName);
-
-  if (!engine)
-  {
-    ignerr << "Internal error: failed to load engine [" << engineName
-      << "]. Align tool plugin won't work." << std::endl;
-    return;
-  }
-
-  if (engine->SceneCount() == 0)
-  {
-    ignerr<< "Internal error: no scenes are available with the loaded engine."
-      << std::endl;
-    return;
-  }
-  // assume there is only one scene
   // load scene
-  auto scene = engine->SceneByIndex(0);
-
-  if (!scene)
-  {
-    ignerr << "Internal error: scene is null." << std::endl;
-    return;
-  }
-
-  if (!scene->IsInitialized() || scene->VisualCount() == 0)
-  {
-    ignerr << "Internal error: scene is either not initialized "
-      "or there are no visuals within it." << std::endl;
-    return;
-  }
+  if (!this->dataPtr->scene)
+    this->dataPtr->scene = rendering::sceneFromFirstRenderEngine();
 
   // Get current list of selected entities
   std::vector<ignition::rendering::VisualPtr> selectedList;
   ignition::rendering::VisualPtr relativeVisual;
 
   for (const auto &entityId : this->dataPtr->selectedEntities)
   {
-    for (auto i = 0u; i < scene->VisualCount(); ++i)
+    for (auto i = 0u; i < this->dataPtr->scene->VisualCount(); ++i)
     {
-      ignition::rendering::VisualPtr vis = scene->VisualByIndex(i);
+      ignition::rendering::VisualPtr vis =
+        this->dataPtr->scene->VisualByIndex(i);
       if (!vis)
         continue;
       if (std::get<int>(vis->UserData("gazebo-entity")) ==
@@ -417,7 +378,8 @@ void AlignTool::Align()
     rendering::VisualPtr vis = selectedList[i];
 
     // Check here to see if visual is top level or not, continue if not
-    rendering::VisualPtr topLevelVis = this->TopLevelVisual(scene, vis);
+    rendering::VisualPtr topLevelVis = this->TopLevelVisual(
+        this->dataPtr->scene, vis);
     if (topLevelVis != vis)
       continue;
 

diff --git a/src/gui/plugins/grid_config/GridConfig.cc b/src/gui/plugins/grid_config/GridConfig.cc
@@ -149,42 +149,7 @@ void GridConfig::UpdateGrid()
 /////////////////////////////////////////////////
 void GridConfig::LoadGrid()
 {
-  auto loadedEngNames = rendering::loadedEngines();
-  if (loadedEngNames.empty())
-    return;
-
-  // assume there is only one engine loaded
-  auto engineName = loadedEngNames[0];
-  if (loadedEngNames.size() > 1)
-  {
-    igndbg << "More than one engine is available. "
-      << "Grid config plugin will use engine ["
-        << engineName << "]" << std::endl;
-  }
-  auto engine = rendering::engine(engineName);
-  if (!engine)
-  {
-    ignerr << "Internal error: failed to load engine [" << engineName
-      << "]. Grid 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);
-  if (!scene)
-  {
-    ignerr << "Internal error: scene is null." << std::endl;
-    return;
-  }
-
-  if (!scene->IsInitialized() || nullptr == scene->RootVisual())
-  {
-    return;
-  }
+  auto scene = rendering::sceneFromFirstRenderEngine();
 
   // load grid
   // if gridPtr found, load the existing gridPtr to class

diff --git a/src/gui/plugins/transform_control/TransformControl.cc b/src/gui/plugins/transform_control/TransformControl.cc
@@ -164,42 +164,7 @@ void TransformControl::SnapToGrid()
 /////////////////////////////////////////////////
 void TransformControl::LoadGrid()
 {
-  auto loadedEngNames = rendering::loadedEngines();
-  if (loadedEngNames.empty())
-    return;
-
-  // assume there is only one engine loaded
-  auto engineName = loadedEngNames[0];
-  if (loadedEngNames.size() > 1)
-  {
-    igndbg << "More than one engine is available. "
-      << "Grid config plugin will use engine ["
-        << engineName << "]" << std::endl;
-  }
-  auto engine = rendering::engine(engineName);
-  if (!engine)
-  {
-    ignerr << "Internal error: failed to load engine [" << engineName
-      << "]. Grid 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);
-  if (!scene)
-  {
-    ignerr << "Internal error: scene is null." << std::endl;
-    return;
-  }
-
-  if (!scene->IsInitialized() || scene->VisualCount() == 0)
-  {
-    return;
-  }
+  auto scene = rendering::sceneFromFirstRenderEngine();
 
   // load grid
   // if gridPtr found, load the existing gridPtr to class

diff --git a/src/systems/camera_video_recorder/CameraVideoRecorder.cc b/src/systems/camera_video_recorder/CameraVideoRecorder.cc
@@ -218,38 +218,7 @@ void CameraVideoRecorderPrivate::OnPostRender()
   // get scene
   if (!this->scene)
   {
-    auto loadedEngNames = rendering::loadedEngines();
-    if (loadedEngNames.empty())
-      return;
-
-    // assume there is only one engine loaded
-    auto engineName = loadedEngNames[0];
-    if (loadedEngNames.size() > 1)
-    {
-      igndbg << "More than one engine is available. "
-        << "Camera video recorder system will use engine ["
-          << engineName << "]" << std::endl;
-    }
-    auto engine = rendering::engine(engineName);
-    if (!engine)
-    {
-      ignerr << "Internal error: failed to load engine [" << engineName
-        << "]. Camera video recorder system won't work." << std::endl;
-      return;
-    }
-
-    if (engine->SceneCount() == 0)
-      return;
-
-    // assume there is only one scene
-    // load scene
-    auto s = engine->SceneByIndex(0);
-    if (!s)
-    {
-      ignerr << "Internal error: scene is null." << std::endl;
-      return;
-    }
-    this->scene = s;
+    this->scene = rendering::sceneFromFirstRenderEngine();
   }
 
   // return if scene not ready or no sensors available.