Adds sky cubemap URI to the sky.proto's header (#1739)

* Adds sky cubemap URI to the sky.proto's header Signed-off-by: Nate Koenig <[email protected]> * require sdf 12.6 Signed-off-by: Nate Koenig <[email protected]> Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Sep 28, 2022 · 319fc7d · 319fc7d
1 parent 5330437
commit 319fc7d
Show file tree

Hide file tree

Showing 3 changed files with 24 additions and 1 deletion.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -60,7 +60,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat12 REQUIRED VERSION 12.4)
+ign_find_package(sdformat12 REQUIRED VERSION 12.6)
 set(SDF_VER ${sdformat12_VERSION_MAJOR})
 
 #--------------------------------------

diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -863,6 +863,13 @@ msgs::Scene ignition::gazebo::convert(const sdf::Scene &_in)
     skyMsg->set_mean_cloud_size(_in.Sky()->CloudMeanSize());
     msgs::Set(skyMsg->mutable_cloud_ambient(),
         _in.Sky()->CloudAmbient());
+
+    if (!_in.Sky()->CubemapUri().empty())
+    {
+      auto header = skyMsg->mutable_header()->add_data();
+      header->set_key("cubemap_uri");
+      header->add_value(_in.Sky()->CubemapUri());
+    }
   }
 
   return out;
@@ -893,6 +900,16 @@ sdf::Scene ignition::gazebo::convert(const msgs::Scene &_in)
     sky.SetCloudHumidity(_in.sky().humidity());
     sky.SetCloudMeanSize(_in.sky().mean_cloud_size());
     sky.SetCloudAmbient(msgs::Convert(_in.sky().cloud_ambient()));
+
+    for (int i = 0; i < _in.sky().header().data_size(); ++i)
+    {
+      auto data = _in.sky().header().data(i);
+      if (data.key() == "cubemap_uri" && data.value_size() > 0)
+      {
+        sky.SetCubemapUri(data.value(0));
+      }
+    }
+
     out.SetSky(sky);
   }
   return out;

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -710,6 +710,7 @@ TEST(Conversions, Scene)
   sky.SetCloudHumidity(0.11);
   sky.SetCloudMeanSize(0.88);
   sky.SetCloudAmbient(math::Color::Red);
+  sky.SetCubemapUri("test.dds");
   scene.SetSky(sky);
 
   auto sceneSkyMsg = convert<msgs::Scene>(scene);
@@ -723,6 +724,10 @@ TEST(Conversions, Scene)
   EXPECT_DOUBLE_EQ(0.88, sceneSkyMsg.sky().mean_cloud_size());
   EXPECT_EQ(math::Color::Red,
       msgs::Convert(sceneSkyMsg.sky().cloud_ambient()));
+  ASSERT_GT(sceneSkyMsg.sky().header().data_size(), 0);
+  auto header = sceneSkyMsg.sky().header().data(0);
+  EXPECT_EQ("cubemap_uri", header.key());
+  EXPECT_EQ("test.dds", header.value(0));
 
   auto newSceneSky = convert<sdf::Scene>(sceneSkyMsg);
   ASSERT_NE(nullptr, newSceneSky.Sky());
@@ -734,6 +739,7 @@ TEST(Conversions, Scene)
   EXPECT_DOUBLE_EQ(0.11, newSceneSky.Sky()->CloudHumidity());
   EXPECT_DOUBLE_EQ(0.88, newSceneSky.Sky()->CloudMeanSize());
   EXPECT_EQ(math::Color::Red, newSceneSky.Sky()->CloudAmbient());
+  EXPECT_EQ("test.dds", newSceneSky.Sky()->CubemapUri());
 }
 
 /////////////////////////////////////////////////