Merge branch 'main' into ahcorde/is_light_off

gazebosim · Apr 21, 2022 · 78eb1f8 · 78eb1f8
2 parents c554e81 + dceb67d
commit 78eb1f8
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Showing 6 changed files with 18 additions and 92 deletions.
diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -571,15 +571,7 @@ msgs::Light ignition::gazebo::convert(const sdf::Light &_in)
   out.set_spot_outer_angle(_in.SpotOuterAngle().Radian());
   out.set_spot_falloff(_in.SpotFalloff());
   out.set_is_light_off(!_in.LightOn());
-
-  {
-    // todo(ahcorde) Use the field visualize_visual in light.proto from
-    // Garden on.
-    auto header = out.mutable_header()->add_data();
-    header->set_key("visualizeVisual");
-    std::string *value = header->add_value();
-    *value = std::to_string(_in.Visualize());
-  }
+  out.set_visualize_visual(_in.Visualize());
 
   if (_in.Type() == sdf::LightType::POINT)
     out.set_type(msgs::Light_LightType_POINT);
@@ -611,24 +603,7 @@ sdf::Light ignition::gazebo::convert(const msgs::Light &_in)
   out.SetSpotOuterAngle(math::Angle(_in.spot_outer_angle()));
   out.SetSpotFalloff(_in.spot_falloff());
   out.SetLightOn(!_in.is_light_off());
-
-  // todo(ahcorde) Use the field visualize_visual in light.proto from
-  // Garden on.
-  bool visualizeVisual = true;
-  for (int i = 0; i < _in.header().data_size(); ++i)
-  {
-    for (int j = 0;
-        j < _in.header().data(i).value_size(); ++j)
-    {
-      if (_in.header().data(i).key() ==
-          "visualizeVisual")
-      {
-        visualizeVisual = ignition::math::parseInt(
-          _in.header().data(i).value(0));
-      }
-    }
-  }
-  out.SetVisualize(visualizeVisual);
+  out.SetVisualize(_in.visualize_visual());
 
   if (_in.type() == msgs::Light_LightType_POINT)
     out.SetType(sdf::LightType::POINT);

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -55,6 +55,7 @@ TEST(Conversions, Light)
   light.SetRawPose({3, 2, 1, 0, IGN_PI, 0});
   light.SetPoseRelativeTo("world");
   light.SetCastShadows(true);
+  light.SetVisualize(true);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -78,6 +79,7 @@ TEST(Conversions, Light)
   // EXPECT_EQ("world", lightMsg.pose_frame());
   EXPECT_TRUE(lightMsg.cast_shadows());
   EXPECT_FALSE(lightMsg.is_light_off());
+  EXPECT_TRUE(lightMsg.visualize_visual());
   EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f, 1),
       msgs::Convert(lightMsg.diffuse()));
   EXPECT_EQ(math::Color(0.8f, 0.9f, 0.1f, 1),
@@ -99,6 +101,7 @@ TEST(Conversions, Light)
   /// \todo(anyone) add pose frame fields in ign-msgs?
   // EXPECT_EQ("world", newLight.PoseRelativeTo());
   EXPECT_TRUE(newLight.CastShadows());
+  EXPECT_TRUE(newLight.Visualize());
   EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f, 1.0f), newLight.Diffuse());
   EXPECT_EQ(math::Color(0.8f, 0.9f, 0.1f, 1.0f), newLight.Specular());
   EXPECT_FLOAT_EQ(3.2f, newLight.AttenuationRange());

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -141,21 +141,6 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
     lightType = 2;
   }
 
-  bool visualizeVisual = true;
-  for (int i = 0; i < _data.header().data_size(); ++i)
-  {
-    for (int j = 0;
-        j < _data.header().data(i).value_size(); ++j)
-    {
-      if (_data.header().data(i).key() ==
-          "visualizeVisual")
-      {
-        visualizeVisual = ignition::math::parseInt(
-          _data.header().data(i).value(0));
-      }
-    }
-  }
-
   _item->setData(QString("Light"),
       ComponentsModel::RoleNames().key("dataType"));
   _item->setData(QList({
@@ -181,7 +166,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
     QVariant(_data.intensity()),
     QVariant(lightType),
     QVariant(!_data.is_light_off()),
-    QVariant(visualizeVisual)
+    QVariant(_data.visualize_visual())
   }), ComponentsModel::RoleNames().key("data"));
 }
 
@@ -1015,15 +1000,6 @@ void ComponentInspector::OnLight(
   };
 
   ignition::msgs::Light req;
-  {
-    // todo(ahcorde) Use the field visualize_visual in light.proto from
-    // Garden on.
-    auto header = req.mutable_header()->add_data();
-    header->set_key("visualizeVisual");
-    std::string *value = header->add_value();
-    *value = std::to_string(_visualizeVisual);
-  }
-
   req.set_name(this->dataPtr->entityName);
   req.set_id(this->dataPtr->entity);
   ignition::msgs::Set(req.mutable_diffuse(),
@@ -1037,6 +1013,7 @@ void ComponentInspector::OnLight(
   req.set_cast_shadows(_castShadows);
   req.set_intensity(_intensity);
   req.set_is_light_off(!_isLightOn);
+  req.set_visualize_visual(_visualizeVisual);
   if (_type == 0)
     req.set_type(ignition::msgs::Light::POINT);
   else if (_type == 1)

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -2855,28 +2855,11 @@ void RenderUtilPrivate::UpdateLights(
     auto l = std::dynamic_pointer_cast<rendering::Light>(node);
     if (l)
     {
-      // todo(ahcorde) Use the field visualize_visual in light.proto from
-      // Garden on.
-      bool visualizeVisual = true;
-      for (int i = 0; i < light.second.header().data_size(); ++i)
-      {
-        for (int j = 0;
-            j < light.second.header().data(i).value_size(); ++j)
-        {
-          if (light.second.header().data(i).key() ==
-              "visualizeVisual")
-          {
-            visualizeVisual = ignition::math::parseInt(
-              light.second.header().data(i).value(0));
-          }
-        }
-      }
-
       rendering::VisualPtr lightVisual =
           this->sceneManager.VisualById(
             this->matchLightWithVisuals[light.first]);
       if (lightVisual)
-        lightVisual->SetVisible(visualizeVisual);
+        lightVisual->SetVisible(light.second.visualize_visual());
 
       if (!light.second.is_light_off())
       {

diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
@@ -227,30 +227,9 @@ class LightCommand : public UserCommandBase
   public: std::function<bool(const msgs::Light &, const msgs::Light &)>
           lightEql { [](const msgs::Light &_a, const msgs::Light &_b)
             {
-              // todo(ahcorde) Use the field visualize_visual in light.proto
-              // from Garden on.
-              auto getVisualizeVisual = [](const msgs::Light &_light) -> bool
-              {
-                bool visualizeVisual = true;
-                for (int i = 0; i < _light.header().data_size(); ++i)
-                {
-                  for (int j = 0;
-                      j < _light.header().data(i).value_size(); ++j)
-                  {
-                    if (_light.header().data(i).key() ==
-                        "visualizeVisual")
-                    {
-                      visualizeVisual = ignition::math::parseInt(
-                        _light.header().data(i).value(0));
-                    }
-                  }
-                }
-                return visualizeVisual;
-              };
-
              return
-                getVisualizeVisual(_a) == getVisualizeVisual(_b) &&
                 _a.is_light_off() == _b.is_light_off() &&
+                _a.visualize_visual() == _b.visualize_visual() &&
                 _a.type() == _b.type() &&
                 _a.name() == _b.name() &&
                 math::equal(

diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
@@ -823,6 +823,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   EXPECT_NEAR(0.01, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1);
   EXPECT_FALSE(pointLightComp->Data().CastShadows());
   EXPECT_TRUE(pointLightComp->Data().LightOn());
+  EXPECT_TRUE(pointLightComp->Data().Visualize());
 
   req.Clear();
   ignition::msgs::Set(req.mutable_diffuse(),
@@ -837,6 +838,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   req.set_attenuation_quadratic(0.001f);
   req.set_cast_shadows(true);
   req.set_is_light_off(false);
+  req.set_visualize_visual(false);
 
   EXPECT_TRUE(node.Request(service, req, timeout, res, result));
   EXPECT_TRUE(result);
@@ -860,6 +862,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   EXPECT_NEAR(0.001, pointLightComp->Data().QuadraticAttenuationFactor(), 0.1);
   EXPECT_TRUE(pointLightComp->Data().CastShadows());
   EXPECT_TRUE(pointLightComp->Data().LightOn());
+  EXPECT_FALSE(pointLightComp->Data().Visualize());
   EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type());
 
   // Check directional light entity has not been edited yet - Initial values
@@ -888,6 +891,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
     math::Vector3d(0.5, 0.2, -0.9), directionalLightComp->Data().Direction());
   EXPECT_TRUE(directionalLightComp->Data().CastShadows());
   EXPECT_TRUE(directionalLightComp->Data().LightOn());
+  EXPECT_TRUE(directionalLightComp->Data().Visualize());
   EXPECT_EQ(sdf::LightType::POINT, pointLightComp->Data().Type());
 
   req.Clear();
@@ -903,6 +907,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   req.set_attenuation_quadratic(1.0f);
   req.set_cast_shadows(false);
   req.set_is_light_off(false);
+  req.set_visualize_visual(false);
   ignition::msgs::Set(req.mutable_direction(),
     ignition::math::Vector3d(1, 2, 3));
   EXPECT_TRUE(node.Request(service, req, timeout, res, result));
@@ -932,6 +937,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   EXPECT_EQ(math::Vector3d(1, 2, 3), directionalLightComp->Data().Direction());
   EXPECT_FALSE(directionalLightComp->Data().CastShadows());
   EXPECT_TRUE(directionalLightComp->Data().LightOn());
+  EXPECT_FALSE(directionalLightComp->Data().Visualize());
   EXPECT_EQ(sdf::LightType::DIRECTIONAL,
     directionalLightComp->Data().Type());
 
@@ -957,6 +963,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
     0.001, spotLightComp->Data().QuadraticAttenuationFactor(), 0.001);
   EXPECT_EQ(math::Vector3d(0, 0, -1), spotLightComp->Data().Direction());
   EXPECT_FALSE(spotLightComp->Data().CastShadows());
+  EXPECT_TRUE(spotLightComp->Data().Visualize());
   EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type());
   EXPECT_NEAR(0.1, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1);
   EXPECT_NEAR(0.5, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1);
@@ -975,6 +982,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   req.set_attenuation_quadratic(1.0f);
   req.set_cast_shadows(true);
   req.set_is_light_off(true);
+  req.set_visualize_visual(true);
   ignition::msgs::Set(req.mutable_direction(),
     ignition::math::Vector3d(1, 2, 3));
   req.set_spot_inner_angle(1.5f);
@@ -1004,6 +1012,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
   EXPECT_EQ(math::Vector3d(1, 2, 3), spotLightComp->Data().Direction());
   EXPECT_TRUE(spotLightComp->Data().CastShadows());
   EXPECT_FALSE(spotLightComp->Data().LightOn());
+  EXPECT_TRUE(spotLightComp->Data().Visualize());
   EXPECT_EQ(sdf::LightType::SPOT, spotLightComp->Data().Type());
   EXPECT_NEAR(1.5, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1);
   EXPECT_NEAR(0.3, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1);