1. MPI_Allgatherv, version 0.5.1

2. inorder to modify "modelupdatefunc" module, add "models" list in GazeboID.cc & .hh, when load model in world.cc, modelprt will be pushback to this list

Gazebo_Distributed_MPI/gazebo/physics/GazeboID.cc

@@ -40,7 +40,7 @@
 // #include "gazebo/common/Plugin.hh"
 // #include "gazebo/common/Events.hh"
 // #include "gazebo/common/Exception.hh"
-// #include "gazebo/common/Console.hh"
+#include "gazebo/common/Console.hh"
 // #include "gazebo/common/CommonTypes.hh"
 
 // #include "gazebo/physics/Gripper.hh"
@@ -85,7 +85,7 @@ void GazeboID::Load(sdf::ElementPtr _sdf)
     while (modelNameElem)
     {
       modelNames.push_back(modelNameElem->Get<std::string>());
-      modelIDs.push_back(0);  //initial state is 0
+      modelIDs.push_back(0); //initial state is 0
       modelNameElem = modelNameElem->GetNextElement("model_name");
     }
   }
@@ -126,4 +126,17 @@ void GazeboID::Fini()
 {
   this->modelNames.clear();
   this->sdf.reset();
+}
+
+//////////////////////////////////////////////////
+ModelPtr GazeboID::GetModel(unsigned int _index) const
+{
+  if (_index >= this->models.size())
+  {
+    gzerr << "Given model index[" << _index << "] is out of range[0.."
+          << this->models.size() << "]\n";
+    return ModelPtr();
+  }
+
+  return this->models[_index];
 }

Gazebo_Distributed_MPI/gazebo/physics/GazeboID.hh

@@ -40,8 +40,8 @@ namespace gazebo
 {
 namespace physics
 {
-/// \class Distribution Distribution.hh physics/physics.hh
+/// \class GazeboID GazeboID.hh physics/physics.hh
-/// \brief Distribution is used to store information about the distributed simulation.
+/// \brief GazeboID is used to store information about the distributed simulation.
 class GZ_PHYSICS_VISIBLE GazeboID
 {
   /// \brief Constructor.
@@ -53,7 +53,7 @@ public:
 public:
   virtual ~GazeboID();
 
-  /// \brief Load the Distribution.
+  /// \brief Load the GazeboID.
   /// \param[in] _sdf SDF parameters to load from.
 public:
   void Load(sdf::ElementPtr _sdf);
@@ -63,8 +63,8 @@ public:
 public:
   int GetGazeboID();
 
-  /// \brief Get the number of models this Distribution has.
+  /// \brief Get the number of models this GazeboID has.
-  /// \return Number of models associated with this Distribution.
+  /// \return Number of models associated with this GazeboID.
 public:
   unsigned int GetModelCount();
 
@@ -89,6 +89,14 @@ public:
   /// \brief Finialize the gazeboID
 public:
   void Fini();
+  
+  /// \brief Get a model based on an index.
+  /// Get a Model using an index, where index must be greater than zero
+  /// and less than GazeboID::GetModelCount()
+  /// \param[in] _index The index of the model [0..GetModelCount)
+  /// \return A pointer to the Model. NULL if _index is invalid.
+public:
+  ModelPtr GetModel(unsigned int _index) const;
 
   /// \brief The Distribution's current SDF description.
 private:
@@ -105,6 +113,10 @@ private:
   /// \brief Models ID in this gazebo
 private:
   std::vector<unsigned int> modelIDs;
+
+  /// \brief A cached list of models. This is here for performance.
+public:
+  Model_V models;
 };
 
 } // namespace physics

Gazebo_Distributed_MPI/gazebo/physics/World.cc

@@ -1817,8 +1817,39 @@ void World::BuildSceneMsg(msgs::Scene &_scene, BasePtr _entity)
 void World::ModelUpdateSingleLoop()
 {
   // Update all the models
-  for (unsigned int i = 0; i < this->dataPtr->rootElement->GetChildCount(); i++)
+  /// original part
-    this->dataPtr->rootElement->GetChild(i)->Update();
+  //for (unsigned int i = 0; i < this->dataPtr->rootElement->GetChildCount(); i++)
+  //  this->dataPtr->rootElement->GetChild(i)->Update();
+  /// original part
+
+  // test by zhangshuai 2019.07.09 ----Begin
+  // for (unsigned int i = 0; i < this->dataPtr->rootElement->GetChildCount(); i++)
+  // {
+  //   this->dataPtr->rootElement->GetChild(i)->Update();
+  //   std::cout << "GetChildCount() : " << this->dataPtr->rootElement->GetChildCount() << std::endl; //zhangshuai test 2019.07.09
+  //   std::cout << "GetChild(" << i << ") : " << this->dataPtr->rootElement->GetChild(i)->GetName() << std::endl;
+  //   std::cout << "rootElement->GetName() : " << this->dataPtr->rootElement->GetName() << std::endl;
+  //   std::cout << "this->GetModelCount() : " << this->GetModelCount() << std::endl;
+  // }
+  // test by zhangshuai 2019.07.09 ----End
+
+  // test by zhangshuai 2019.07.10 ----Begin
+  // for (unsigned int i = 0; i < this->GetModelCount(); i++)
+  // {
+  //   this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModel(i)->Update();
+  //   this->GetModel(i)->Update();
+  //   std::cout << "this->GetModelCount() : " << this->GetModelCount() << std::endl;
+  //   std::cout << "this->GetModel(i)->GetName() : " << this->GetModel(i)->GetName() << std::endl;
+  // }
+  // test by zhangshuai 2019.07.10 ----End
+
+  for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
+  {
+    this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModel(i)->Update();
+    // this->GetModel(i)->Update();
+    std::cout << "GetModelCount() : " << this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount() << std::endl;
+    std::cout << "GetModel(i)->GetName() : " << this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModel(i)->GetName() << std::endl;
+  }
 }
 
 //////////////////////////////////////////////////
@@ -1842,17 +1873,52 @@ void World::LoadPlugins()
     {
       ModelPtr model = boost::static_pointer_cast<Model>(
           this->dataPtr->rootElement->GetChild(i));
+
       // Modified by zhangshuai 2019.04.02 ----Begin
       if (this->flag == 1)
       {
         // Judge if the model to load is simulated in this gazebo
-        for (unsigned int j = 0; j < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); j++)
+
+        // for (unsigned int i = 0; i < this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelCount(); i++)
+        // {
+        //   if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(i))
+        //   {
+        //     // Original part
+        //     model->LoadPlugins();
+        //     // Original part
+        //     this->distribution->GetGazeboIDPtr(gazeboLocalID)->SetModelID(i, model->GetId());
+        //   }
+        // }
+
+        int tmp_gazebo_count = this->distribution->GetGazeboCount();
+        for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
         {
-          if (model->GetName() == this->distribution->GetGazeboIDPtr(gazeboLocalID)->GetModelName(j))
+          if (this->gazeboLocalID == tmp_gazebo_id)
           {
-            // Original part
+            unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
-            model->LoadPlugins();
+            for (unsigned int j = 0; j < tmp_model_count; j++)
-            // Original part
+            {
+              if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
+              {
+                // Original part
+                model->LoadPlugins();
+                // Original part
+                this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId());
+                this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->models.push_back(model);
+              }
+            }
+          }
+          else
+          {
+            unsigned int tmp_model_count = this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelCount();
+            for (unsigned int j = 0; j < tmp_model_count; j++)
+            {
+              if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(j))
+              {
+                this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(j, model->GetId());
+                this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->models.push_back(model);
+              }
+            }
           }
         }
       }
@@ -1860,6 +1926,7 @@ void World::LoadPlugins()
       {
         model->LoadPlugins();
       }
+
       // Modified by zhangshuai 2019.04.02 ----End
       // model->LoadPlugins();
     }
@@ -2404,6 +2471,7 @@ void World::ProcessFactoryMsgs()
                   model->LoadPlugins();
                   // Original part
                   this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
+                  this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->models.push_back(model); // modified by zhangshuai 2019.07.10
                 }
               }
             }
@@ -2415,6 +2483,7 @@ void World::ProcessFactoryMsgs()
                 if (model->GetName() == this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->GetModelName(i))
                 {
                   this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->SetModelID(i, model->GetId());
+                  this->distribution->GetGazeboIDPtr(tmp_gazebo_id)->models.push_back(model); // modified by zhangshuai 2019.07.10
                 }
               }
             }