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Used Light ign-msgs is_light_off #1449

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merged 5 commits into from
Apr 22, 2022
Merged

Used Light ign-msgs is_light_off #1449

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dba54be
Used Light ign-msgs is_light_off
ahcorde Apr 19, 2022
8881e09
One more place
ahcorde Apr 20, 2022
6e3f4b0
Fix bug and improved test
ahcorde Apr 20, 2022
c554e81
Merge branch 'main' into ahcorde/is_light_off
ahcorde Apr 20, 2022
78eb1f8
Merge branch 'main' into ahcorde/is_light_off
ahcorde Apr 21, 2022
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29 changes: 2 additions & 27 deletions src/Conversions.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -570,15 +570,7 @@ msgs::Light ignition::gazebo::convert(const sdf::Light &_in)
out.set_spot_inner_angle(_in.SpotInnerAngle().Radian());
out.set_spot_outer_angle(_in.SpotOuterAngle().Radian());
out.set_spot_falloff(_in.SpotFalloff());

{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = out.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_in.LightOn());
}
out.set_is_light_off(!_in.LightOn());
out.set_visualize_visual(_in.Visualize());

if (_in.Type() == sdf::LightType::POINT)
Expand Down Expand Up @@ -610,26 +602,9 @@ sdf::Light ignition::gazebo::convert(const msgs::Light &_in)
out.SetSpotInnerAngle(math::Angle(_in.spot_inner_angle()));
out.SetSpotOuterAngle(math::Angle(_in.spot_outer_angle()));
out.SetSpotFalloff(_in.spot_falloff());
out.SetLightOn(!_in.is_light_off());
out.SetVisualize(_in.visualize_visual());

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool isLightOn = 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() ==
"isLightOn")
{
isLightOn = ignition::math::parseInt(
_in.header().data(i).value(0));
}
}
}
out.SetLightOn(isLightOn);

if (_in.type() == msgs::Light_LightType_POINT)
out.SetType(sdf::LightType::POINT);
else if (_in.type() == msgs::Light_LightType_SPOT)
Expand Down
2 changes: 2 additions & 0 deletions src/Conversions_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ TEST(Conversions, Light)
light.SetSpotOuterAngle(3.3);
light.SetSpotFalloff(0.9);
light.SetIntensity(1.7);
light.SetLightOn(true);

msgs::Light lightMsg;
lightMsg = convert<msgs::Light>(light);
Expand All @@ -77,6 +78,7 @@ TEST(Conversions, Light)
/// \todo(anyone) add pose frame fields in ign-msgs?
// 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()));
Expand Down
27 changes: 2 additions & 25 deletions src/gui/plugins/component_inspector/ComponentInspector.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -141,21 +141,6 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
lightType = 2;
}

bool isLightOn = 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() ==
"isLightOn")
{
isLightOn = ignition::math::parseInt(
_data.header().data(i).value(0));
}
}
}

_item->setData(QString("Light"),
ComponentsModel::RoleNames().key("dataType"));
_item->setData(QList({
Expand All @@ -180,7 +165,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
QVariant(_data.spot_falloff()),
QVariant(_data.intensity()),
QVariant(lightType),
QVariant(isLightOn),
QVariant(!_data.is_light_off()),
QVariant(_data.visualize_visual())
}), ComponentsModel::RoleNames().key("data"));
}
Expand Down Expand Up @@ -1015,15 +1000,6 @@ void ComponentInspector::OnLight(
};

ignition::msgs::Light req;
{
// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(_isLightOn);
}

req.set_name(this->dataPtr->entityName);
req.set_id(this->dataPtr->entity);
ignition::msgs::Set(req.mutable_diffuse(),
Expand All @@ -1036,6 +1012,7 @@ void ComponentInspector::OnLight(
req.set_attenuation_quadratic(_attQuadratic);
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);
Expand Down
19 changes: 1 addition & 18 deletions src/rendering/RenderUtil.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2861,24 +2861,7 @@ void RenderUtilPrivate::UpdateLights(
if (lightVisual)
lightVisual->SetVisible(light.second.visualize_visual());

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
bool isLightOn = 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() ==
"isLightOn")
{
isLightOn = ignition::math::parseInt(
light.second.header().data(i).value(0));
}
}
}

if (isLightOn)
if (!light.second.is_light_off())
{
if (!ignition::math::equal(
l->Intensity(),
Expand Down
22 changes: 1 addition & 21 deletions src/systems/user_commands/UserCommands.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -227,28 +227,8 @@ 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 is_light_off in light.proto from
// Garden on.
auto getIsLightOn = [](const msgs::Light &_light) -> bool
{
bool isLightOn = 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() ==
"isLightOn")
{
isLightOn = ignition::math::parseInt(
_light.header().data(i).value(0));
}
}
}
return isLightOn;
};
return
getIsLightOn(_a) == getIsLightOn(_b) &&
_a.is_light_off() == _b.is_light_off() &&
_a.visualize_visual() == _b.visualize_visual() &&
_a.type() == _b.type() &&
_a.name() == _b.name() &&
Expand Down
15 changes: 8 additions & 7 deletions test/integration/user_commands.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -822,6 +822,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
EXPECT_NEAR(0.2, pointLightComp->Data().ConstantAttenuationFactor(), 0.1);
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();
Expand All @@ -836,15 +837,9 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
req.set_attenuation_constant(0.6f);
req.set_attenuation_quadratic(0.001f);
req.set_cast_shadows(true);
req.set_is_light_off(false);
req.set_visualize_visual(false);

// todo(ahcorde) Use the field is_light_off in light.proto from
// Garden on.
auto header = req.mutable_header()->add_data();
header->set_key("isLightOn");
std::string *value = header->add_value();
*value = std::to_string(true);

EXPECT_TRUE(node.Request(service, req, timeout, res, result));
EXPECT_TRUE(result);
EXPECT_TRUE(res.data());
Expand All @@ -866,6 +861,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
EXPECT_NEAR(0.6, pointLightComp->Data().ConstantAttenuationFactor(), 0.1);
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());

Expand Down Expand Up @@ -894,6 +890,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
EXPECT_EQ(
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());

Expand All @@ -909,6 +906,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
req.set_attenuation_constant(0.6f);
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));
Expand Down Expand Up @@ -938,6 +936,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
1, directionalLightComp->Data().QuadraticAttenuationFactor(), 0.1);
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());
Expand Down Expand Up @@ -982,6 +981,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
req.set_attenuation_constant(0.6f);
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));
Expand Down Expand Up @@ -1011,6 +1011,7 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
EXPECT_NEAR(1, spotLightComp->Data().QuadraticAttenuationFactor(), 0.1);
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);
Expand Down