Specify System::PreUpdate, Update execution order #2487
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Specifying an integer value in a <gz:system_priority> tag for a system will control the order in which System PreUpdate and Update callbacks are executed, with lower values executing first. The PriorityPrinter example plugin is added to illustrate the feature. Signed-off-by: Steve Peters <[email protected]>
ahcorde
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Jul 22, 2024
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
This was referenced Jul 28, 2024
iche033
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Jul 29, 2024
| [Msg] Update: Iteration 5, system priority 10, system label second | ||
| [Msg] Update: Iteration 5, system priority 100, system label first | ||
| [Msg] Update: Iteration 5, system priority 100, system label seventh | ||
| ``` |
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describe how priority numbers work, i.e. the lower the number the higher the priority? and also unset means default priority of 0?
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I improved the description in d4b161b
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
iche033
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Jul 30, 2024
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Specifying an integer value in a <gz:system_priority> tag for a system will control the order in which System PreUpdate and Update callbacks are executed, with lower values executing first. The PriorityPrinter example plugin is added to illustrate the feature. Signed-off-by: Steve Peters <[email protected]>
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Specifying an integer value in a <gz:system_priority> tag for a system will control the order in which System PreUpdate and Update callbacks are executed, with lower values executing first. The PriorityPrinter example plugin is added to illustrate the feature. Signed-off-by: Steve Peters <[email protected]>
scpeters
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Specifying an integer value in a <gz:system_priority> tag for a system will control the order in which System PreUpdate and Update callbacks are executed, with lower values executing first. The PriorityPrinter example plugin is added to illustrate the feature. Signed-off-by: Steve Peters <[email protected]>
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🎉 New feature
Part of #2268 and #2391, second attempt at #2394
Summary
While the
PreUpdate,Update, andPostUpdatephases of gz-sim systems allow some control over the order in which code is executed, there are cases in which more control is desired. For example, as noted in #2268 and #2391, sensor systems currently update their data duringPostUpdate(after theUpdatestep of the physics system) but can't write their data to the ECM sincePostUpdatehas read-only access to the ECM. Moving sensor updates toUpdatewould allow writing to the ECM, but would require ensuring that the sensor systems execute theirUpdatestep after the physicsUpdate. Alternatively, if one wanted to implement a hierarchical cascade of systems acting on data sequentially, rather than addingPrePreUpdateandPrePrePreUpdatephases, one could specify the system priority duringPreUpdatefor the relevant systems instead.This feature is used by specifying an integer value in a
<gz:system_priority>tag for a system that will control the order in which SystemPreUpdateandUpdatecallbacks are executed, with smaller priority values executing first.Test it
Follow the README instructions to build and run the
PriorityPrinterexample plugin to illustrate the feature.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.