Add entity and sdf parameters to Server's AddSystem interface

[g-arjones]

🦟 Bug fix

Fixes #2322

Summary

Entity and XML content information are lost when adding systems through the Server::AddSystem(system) API. To reproduce it:

1. Create a dummy system plugin:

   class DummyPlugin : public gz::sim::System,
   public gz::sim::ISystemConfigure,
   {
   public:
   void Configure(
   const gz::sim::Entity &_entity,
   const std::shared_ptr<const sdf::Element> &_sdf,
   gz::sim::EntityComponentManager &_ecm,
   gz::sim::EventManager &_eventMgr) override
   {
   std::cout << _sdf->ToString("") << std::endl;
   }
   };

2. Load it with the SystemLoader (extracted from here):

   sim::SystemLoader systemLoader;
   sdf::Plugin sdfPlugin("dummy_plugin", "gz::sim::systems::DummyPlugin", "<test>foo</test>");
   auto mockSystemPlugin = systemLoader.LoadPlugin(sdfPlugin);
   EXPECT_TRUE(*server.AddSystem(mockSystemPlugin.value()));

Without this patch, the code above will output:

<plugin filename='__default__'/>

After the patch, you will be able to use the extended Server::AddSystem(plugin, entity, sdf) API and get:

<plugin filename='dummy_plugin' name='gz::sim::DummyPlugin'>
  <test>foo</test>
</plugin>

Checklist

• [x] Signed all commits for DCO
• [x] Added tests
• [x] Updated documentation (as needed)
• [x] Updated migration guide (as needed)
• [x] Consider updating Python bindings (if the library has them)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[g-arjones]

Amended to fix linting issues

[g-arjones]

That would encapsulate loading the plugin and extracting the _sdf element from sdf::Plugin. Thoughts?

Sounds good to me. May I do it in this PR ?

[azeey]

That would encapsulate loading the plugin and extracting the _sdf element from sdf::Plugin. Thoughts?

Sounds good to me. May I do it in this PR ?

Go for it!

[g-arjones]

@azeey Comments have been addressed.

Thank you for the review!

[g-arjones]

@azeey Had to amend again because of another linter issue, sorry about that.

BTW, the contribution guide mentions a codecheck target but the current cmake configuration doesn't seem to be generating that:

$ make codecheck
make: *** No rule to make target 'codecheck'.  Stop.

How should I run cpplint and cppcheck on gz-sim properly?

[azeey]

@azeey Had to amend again because of another linter issue, sorry about that.

BTW, the contribution guide mentions a codecheck target but the current cmake configuration doesn't seem to be generating that:

$ make codecheck
make: *** No rule to make target 'codecheck'.  Stop.

How should I run cpplint and cppcheck on gz-sim properly?

You must install cppcheck first for the codecheck target to be available.

[g-arjones]

You must install cppcheck first for the codecheck target to be available.

Got it. I think we are good to go now.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 65.98%. Comparing base (633ce72) to head (4e739b8).

Additional details and impacted files

```diff @@ Coverage Diff @@ ## gz-sim8 #2324 +/- ## =========================================== + Coverage 65.97% 65.98% +0.01% =========================================== Files 327 327 Lines 31328 31339 +11 =========================================== + Hits 20668 20680 +12 + Misses 10660 10659 -1 ```

:umbrella: View full report in Codecov by Sentry.
:loudspeaker: Have feedback on the report? Share it here.

[g-arjones]

No problem. Amended again.

[g-arjones]

@azeey @iche033 Any idea when this might be released?