Use DrakeVisualizerd instead of DrakeVisualizer (RobotLocomotion#14547)

In the future PR we will templatize DrakeVisualizer class. This PR makes sure the code doesn't break, and is compatible with the future templated DrakeVisualizer class. Co-authored-by: Jeremy Nimmer <[email protected]>
sankhesh · Jan 20, 2021 · 75364f3 · 75364f3
1 parent 2a4723a
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Showing 48 changed files with 73 additions and 59 deletions.
diff --git a/examples/acrobot/run_lqr.cc b/examples/acrobot/run_lqr.cc
@@ -35,7 +35,7 @@ int do_main() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   AcrobotGeometry::AddToBuilder(
       &builder, acrobot->get_output_port(0), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   auto controller = builder.AddSystem(BalancingLQRController(*acrobot));
   controller->set_name("controller");

diff --git a/examples/acrobot/run_lqr_w_estimator.cc b/examples/acrobot/run_lqr_w_estimator.cc
@@ -45,7 +45,7 @@ int do_main() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   AcrobotGeometry::AddToBuilder(
       &builder, acrobot_w_encoder->get_output_port(1), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   // Make a Kalman filter observer.
   auto observer_acrobot = std::make_unique<AcrobotWEncoder<double>>();

diff --git a/examples/acrobot/run_passive.cc b/examples/acrobot/run_passive.cc
@@ -31,7 +31,7 @@ int do_main() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   AcrobotGeometry::AddToBuilder(
       &builder, acrobot->get_output_port(0), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/acrobot/run_plant_w_lcm.cc b/examples/acrobot/run_plant_w_lcm.cc
@@ -53,7 +53,7 @@ int DoMain() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   AcrobotGeometry::AddToBuilder(
       &builder, acrobot->get_output_port(0), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph, lcm);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph, lcm);
 
   // Creates command receiver and subscriber.
   auto command_sub = builder.AddSystem(

diff --git a/examples/acrobot/run_swing_up.cc b/examples/acrobot/run_swing_up.cc
@@ -33,7 +33,7 @@ int do_main() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   AcrobotGeometry::AddToBuilder(
       &builder, acrobot->get_output_port(0), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   auto controller = builder.AddSystem<AcrobotSpongController>();
   builder.Connect(acrobot->get_output_port(0), controller->get_input_port(0));

diff --git a/examples/acrobot/test/run_swing_up_traj_optimization.cc b/examples/acrobot/test/run_swing_up_traj_optimization.cc
@@ -104,7 +104,7 @@ int do_main() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   AcrobotGeometry::AddToBuilder(&builder, plant->get_output_port(0),
                                 scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   auto diagram = builder.Build();
 

diff --git a/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc b/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
@@ -186,7 +186,7 @@ void DoMain() {
   plant.Finalize();
 
   // Visualization
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   DRAKE_DEMAND(!!plant.get_source_id());
   builder.Connect(
       plant.get_geometry_poses_output_port(),

diff --git a/examples/allegro_hand/run_allegro_constant_load_demo.cc b/examples/allegro_hand/run_allegro_constant_load_demo.cc
@@ -104,7 +104,7 @@ void DoMain() {
   builder.Connect(scene_graph.get_query_output_port(),
                   plant.get_geometry_query_input_port());
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   std::unique_ptr<systems::Diagram<double>> diagram = builder.Build();
 
   // Create a context for this system:

diff --git a/examples/atlas/atlas_run_dynamics.cc b/examples/atlas/atlas_run_dynamics.cc
@@ -92,7 +92,7 @@ int do_main() {
   // Publish contact results for visualization.
   ConnectContactResultsToDrakeVisualizer(&builder, plant);
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, pair.scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, pair.scene_graph);
   auto diagram = builder.Build();
 
   // Create a context for this system:

diff --git a/examples/compass_gait/simulate.cc b/examples/compass_gait/simulate.cc
@@ -28,7 +28,7 @@ int DoMain() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   CompassGaitGeometry::AddToBuilder(&builder,
       compass_gait->get_floating_base_state_output_port(), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   auto diagram = builder.Build();
 

diff --git a/examples/kinova_jaco_arm/jaco_simulation.cc b/examples/kinova_jaco_arm/jaco_simulation.cc
@@ -91,7 +91,7 @@ int DoMain() {
 
   systems::lcm::LcmInterfaceSystem* lcm =
       builder.AddSystem<systems::lcm::LcmInterfaceSystem>();
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph, lcm);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph, lcm);
 
   auto command_sub = builder.AddSystem(
       systems::lcm::LcmSubscriberSystem::Make<drake::lcmt_jaco_command>(

diff --git a/examples/kuka_iiwa_arm/kuka_simulation.cc b/examples/kuka_iiwa_arm/kuka_simulation.cc
@@ -74,7 +74,7 @@ int DoMain() {
 
   // Creates and adds LCM publisher for visualization.
   auto lcm = builder.AddSystem<systems::lcm::LcmInterfaceSystem>();
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph, lcm);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph, lcm);
 
   // Since we welded the model to the world above, the only remaining joints
   // should be those in the arm.

diff --git a/examples/manipulation_station/mock_station_simulation.cc b/examples/manipulation_station/mock_station_simulation.cc
@@ -74,7 +74,7 @@ int do_main(int argc, char* argv[]) {
   // #9747.
   station->Finalize();
 
-  geometry::DrakeVisualizer::AddToBuilder(
+  geometry::DrakeVisualizerd::AddToBuilder(
       &builder, station->GetOutputPort("query_object"));
 
   auto lcm = builder.AddSystem<systems::lcm::LcmInterfaceSystem>();

diff --git a/examples/manipulation_station/proof_of_life.cc b/examples/manipulation_station/proof_of_life.cc
@@ -66,7 +66,7 @@ int do_main(int argc, char* argv[]) {
   }
   station->Finalize();
 
-  geometry::DrakeVisualizer::AddToBuilder(
+  geometry::DrakeVisualizerd::AddToBuilder(
       &builder, station->GetOutputPort("query_object"));
   multibody::ConnectContactResultsToDrakeVisualizer(
       &builder, station->get_mutable_multibody_plant(),

diff --git a/examples/mass_spring_cloth/run_cloth_spring_model.cc b/examples/mass_spring_cloth/run_cloth_spring_model.cc
@@ -39,7 +39,7 @@ int DoMain() {
   auto* scene_graph = builder.AddSystem<geometry::SceneGraph>();
   ClothSpringModelGeometry::AddToBuilder(&builder, *cloth_spring_model,
                                          scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
   auto context = diagram->CreateDefaultContext();
   auto simulator =

diff --git a/examples/multibody/acrobot/passive_simulation.cc b/examples/multibody/acrobot/passive_simulation.cc
@@ -85,7 +85,7 @@ int do_main() {
       acrobot.get_geometry_poses_output_port(),
       scene_graph.get_source_pose_port(acrobot.get_source_id().value()));
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   auto diagram = builder.Build();
 
   // Create a context for this system:

diff --git a/examples/multibody/acrobot/run_lqr.cc b/examples/multibody/acrobot/run_lqr.cc
@@ -144,7 +144,7 @@ int do_main() {
       acrobot.get_geometry_poses_output_port(),
       scene_graph.get_source_pose_port(acrobot.get_source_id().value()));
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/multibody/cart_pole/cart_pole_passive_simulation.cc b/examples/multibody/cart_pole/cart_pole_passive_simulation.cc
@@ -64,7 +64,7 @@ int do_main() {
       cart_pole.get_geometry_poses_output_port(),
       scene_graph.get_source_pose_port(cart_pole.get_source_id().value()));
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   auto diagram = builder.Build();
 
   // Create a context for this system:

diff --git a/examples/multibody/cylinder_with_multicontact/cylinder_run_dynamics.cc b/examples/multibody/cylinder_with_multicontact/cylinder_run_dynamics.cc
@@ -92,7 +92,7 @@ int do_main() {
                   plant.get_geometry_query_input_port());
 
   DrakeLcm lcm;
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph, &lcm);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph, &lcm);
 
   // This is the source of poses for the visualizer.
   builder.Connect(

diff --git a/examples/multibody/four_bar/passive_simulation.cc b/examples/multibody/four_bar/passive_simulation.cc
@@ -122,7 +122,7 @@ int do_main() {
   // We are done defining the model. Finalize and build the diagram.
   four_bar.Finalize();
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   auto diagram = builder.Build();
 
   // Create a context for this system and sub-context for the four bar system.

diff --git a/examples/multibody/inclined_plane_with_body/inclined_plane_with_body.cc b/examples/multibody/inclined_plane_with_body/inclined_plane_with_body.cc
@@ -139,7 +139,7 @@ int do_main() {
   if (FLAGS_time_step > 0)
     ConnectContactResultsToDrakeVisualizer(&builder, plant);
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, pair.scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, pair.scene_graph);
   auto diagram = builder.Build();
 
   // Create a context for this system:

diff --git a/examples/multibody/pendulum/passive_simulation.cc b/examples/multibody/pendulum/passive_simulation.cc
@@ -87,7 +87,7 @@ int do_main() {
       pendulum.get_geometry_poses_output_port(),
       scene_graph.get_source_pose_port(pendulum.get_source_id().value()));
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   auto diagram = builder.Build();
 
   auto diagram_context = diagram->CreateDefaultContext();

diff --git a/examples/multibody/rolling_sphere/rolling_sphere_run_dynamics.cc b/examples/multibody/rolling_sphere/rolling_sphere_run_dynamics.cc
@@ -156,7 +156,7 @@ int do_main() {
       scene_graph.get_source_pose_port(plant.get_source_id().value()));
 
   if (FLAGS_visualize) {
-    geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+    geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
     ConnectContactResultsToDrakeVisualizer(&builder, plant);
   }
   auto diagram = builder.Build();

diff --git a/examples/multibody/strandbeest/run_with_motor.cc b/examples/multibody/strandbeest/run_with_motor.cc
@@ -140,7 +140,7 @@ int do_main() {
   strandbeest.set_penetration_allowance(FLAGS_penetration_allowance);
   strandbeest.set_stiction_tolerance(FLAGS_stiction_tolerance);
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
   ConnectContactResultsToDrakeVisualizer(&builder, strandbeest);
 
   // Create a DesiredVelocityMotor where the proportional term is directly

diff --git a/examples/particles/uniformly_accelerated_particle.cc b/examples/particles/uniformly_accelerated_particle.cc
@@ -70,7 +70,7 @@ UniformlyAcceleratedParticle::UniformlyAcceleratedParticle(
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   ParticleGeometry::AddToBuilder(
       &builder, particle->get_output_port(0), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   builder.BuildInto(this);
 }
 

diff --git a/examples/pendulum/energy_shaping_simulation.cc b/examples/pendulum/energy_shaping_simulation.cc
@@ -74,7 +74,7 @@ int DoMain() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   PendulumGeometry::AddToBuilder(
       &builder, pendulum->get_state_output_port(), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/pendulum/lqr_simulation.cc b/examples/pendulum/lqr_simulation.cc
@@ -53,7 +53,7 @@ int DoMain() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   PendulumGeometry::AddToBuilder(
       &builder, pendulum->get_state_output_port(), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/pendulum/passive_simulation.cc b/examples/pendulum/passive_simulation.cc
@@ -28,7 +28,7 @@ int DoMain() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   PendulumGeometry::AddToBuilder(
       &builder, pendulum->get_state_output_port(), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/pendulum/trajectory_optimization_simulation.cc b/examples/pendulum/trajectory_optimization_simulation.cc
@@ -105,7 +105,7 @@ int DoMain() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   PendulumGeometry::AddToBuilder(
       &builder, pendulum_ptr->get_state_output_port(), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/planar_gripper/gripper_brick.cc b/examples/planar_gripper/gripper_brick.cc
@@ -37,7 +37,7 @@ template <>
 void AddDrakeVisualizer<double>(
     systems::DiagramBuilder<double>* builder,
     const geometry::SceneGraph<double>& scene_graph) {
-  geometry::DrakeVisualizer::AddToBuilder(builder, scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(builder, scene_graph);
 }
 
 template <typename T>

diff --git a/examples/planar_gripper/planar_gripper_simulation.cc b/examples/planar_gripper/planar_gripper_simulation.cc
@@ -349,7 +349,7 @@ int DoMain() {
                     plant.get_actuation_input_port());
   }
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph, lcm);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph, lcm);
 
   // Publish contact results for visualization.
   if (FLAGS_visualize_contacts) {

diff --git a/examples/quadrotor/run_quadrotor_dynamics.cc b/examples/quadrotor/run_quadrotor_dynamics.cc
@@ -36,7 +36,7 @@ class Quadrotor : public systems::Diagram<T> {
     systems::DiagramBuilder<T> builder;
     auto [plant, scene_graph] =
         multibody::AddMultibodyPlantSceneGraph(&builder, 0.0);
-    geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+    geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
     multibody::Parser parser(&plant);
     parser.AddModelFromFile(
         FindResourceOrThrow("drake/examples/quadrotor/quadrotor.urdf"));

diff --git a/examples/quadrotor/run_quadrotor_lqr.cc b/examples/quadrotor/run_quadrotor_lqr.cc
@@ -53,7 +53,7 @@ int do_main() {
   auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
   QuadrotorGeometry::AddToBuilder(
       &builder, quadrotor->get_output_port(0), scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   auto diagram = builder.Build();
   Simulator<double> simulator(*diagram);

diff --git a/examples/rimless_wheel/simulate.cc b/examples/rimless_wheel/simulate.cc
@@ -35,7 +35,7 @@ int DoMain() {
   RimlessWheelGeometry::AddToBuilder(
       &builder, rimless_wheel->get_floating_base_state_output_port(),
       scene_graph);
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
   auto diagram = builder.Build();
 
   systems::Simulator<double> simulator(*diagram);

diff --git a/examples/rod2d/rod2d_sim.cc b/examples/rod2d/rod2d_sim.cc
@@ -16,7 +16,7 @@
 
 using Rod2D = drake::examples::rod2d::Rod2D<double>;
 using drake::examples::rod2d::Rod2dGeometry;
-using drake::geometry::DrakeVisualizer;
+using drake::geometry::DrakeVisualizerd;
 using drake::geometry::SceneGraph;
 using drake::systems::Context;
 using drake::systems::DiagramBuilder;
@@ -57,7 +57,7 @@ int main(int argc, char* argv[]) {
   auto& scene_graph = *builder.AddSystem<SceneGraph<double>>();
   Rod2dGeometry::AddToBuilder(FLAGS_rod_radius, rod->get_rod_half_length() * 2,
                               &builder, rod->state_output(), &scene_graph);
-  DrakeVisualizer::AddToBuilder(&builder, scene_graph);
+  DrakeVisualizerd::AddToBuilder(&builder, scene_graph);
 
   // Set the names of the systems.
   rod->set_name("rod");

diff --git a/examples/scene_graph/bouncing_ball_run_dynamics.cc b/examples/scene_graph/bouncing_ball_run_dynamics.cc
@@ -36,7 +36,7 @@ namespace {
 
 using Eigen::Vector3d;
 using Eigen::Vector4d;
-using geometry::DrakeVisualizer;
+using geometry::DrakeVisualizerd;
 using geometry::GeometryInstance;
 using geometry::SceneGraph;
 using geometry::GeometryId;
@@ -103,7 +103,7 @@ int do_main() {
                   bouncing_ball2->get_geometry_query_input_port());
 
   DrakeLcm lcm;
-  DrakeVisualizer::AddToBuilder(&builder, *scene_graph, &lcm);
+  DrakeVisualizerd::AddToBuilder(&builder, *scene_graph, &lcm);
 
   if (FLAGS_render_on) {
     PerceptionProperties properties;

diff --git a/examples/scene_graph/simple_contact_surface_vis.cc b/examples/scene_graph/simple_contact_surface_vis.cc
@@ -43,7 +43,7 @@ using Eigen::Vector4d;
 using geometry::Box;
 using geometry::ContactSurface;
 using geometry::Cylinder;
-using geometry::DrakeVisualizer;
+using geometry::DrakeVisualizerd;
 using geometry::FrameId;
 using geometry::FramePoseVector;
 using geometry::GeometryFrame;
@@ -321,7 +321,7 @@ int do_main() {
   DrakeLcm lcm;
 
   // Visualize geometry.
-  DrakeVisualizer::AddToBuilder(&builder, scene_graph, &lcm);
+  DrakeVisualizerd::AddToBuilder(&builder, scene_graph, &lcm);
 
   // Visualize contacts.
   auto& contact_to_lcm =

diff --git a/examples/scene_graph/solar_system_run_dynamics.cc b/examples/scene_graph/solar_system_run_dynamics.cc
@@ -31,7 +31,7 @@ int do_main() {
   builder.Connect(solar_system->get_geometry_pose_output_port(),
                   scene_graph->get_source_pose_port(solar_system->source_id()));
 
-  geometry::DrakeVisualizer::AddToBuilder(&builder, *scene_graph);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
 
   auto diagram = builder.Build();
 

diff --git a/examples/simple_gripper/simple_gripper.cc b/examples/simple_gripper/simple_gripper.cc
@@ -245,7 +245,7 @@ int do_main() {
                   plant.get_geometry_query_input_port());
 
   DrakeLcm lcm;
-  geometry::DrakeVisualizer::AddToBuilder(&builder, scene_graph, &lcm);
+  geometry::DrakeVisualizerd::AddToBuilder(&builder, scene_graph, &lcm);
   builder.Connect(
       plant.get_geometry_poses_output_port(),
       scene_graph.get_source_pose_port(plant.get_source_id().value()));