Particle system - Part2

src/systems/particle_emitter/ParticleEmitter.cc

@@ -71,10 +71,47 @@ void ParticleEmitter::Configure(const Entity &/*_entity*/,
     return;
   }
 
+  // allow_renaming
+  bool allowRenaming = false;
+  if (_sdf->HasElement("allow_renaming"))
+    allowRenaming = _sdf->Get<bool>("allow_renaming");
+
   // Name.
   std::string name = "particle_emitter_entity_" + std::to_string(entity);
   if (_sdf->HasElement("emitter_name"))
-    name = _sdf->Get<std::string>("emitter_name");
+  {
+    std::set<std::string> emitterNames;
+    std::string emitterName = _sdf->Get<std::string>("emitter_name");
+
+    // check to see if name is already taken
+    _ecm.Each<components::Name, components::ParticleEmitter>(
+        [&emitterNames](const Entity &, const components::Name *_name,
+                      const components::ParticleEmitter *)
+        {
+          emitterNames.insert(_name->Data());
+          return true;
+        });
+
+    name = emitterName;
+
+    // rename emitter if needed
+    if (emitterNames.find(emitterName) != emitterNames.end())
+    {
+      if (!allowRenaming)
+      {
+        ignwarn << "Entity named [" << name
+                << "] already exists and "
+                << "[allow_renaming] is false. Entity not spawned."
+                << std::endl;
+        return;
+      }
+      int counter = 0;
+      while (emitterNames.find(name) != emitterNames.end())
+      {
+        name = emitterName + "_" + std::to_string(++counter);
+      }
+    }
+  }
   this->dataPtr->emitter.set_name(name);
 
   // Type. The default type is point.

src/systems/particle_emitter/ParticleEmitter.hh

@@ -37,6 +37,8 @@ namespace systems
   ///
   /// `<emitter_name>`: Unique name for the particle emitter. The name will be
   ///                   automatically generated if this parameter is not set.
+  /// `<allow_renaming>`: Rename the particle emitter if one with the same name
+  ///                     already exists
   /// `<type>`: The emitter type (point, box, cylinder, ellipsoid).
   ///           Default value is point.
   /// `<pose>`: The pose of the emitter. Default value is {0, 0, 0, 0, 0, 0}.

test/integration/particle_emitter.cc

@@ -31,7 +31,6 @@
 #include "ignition/gazebo/test_config.hh"
 
 #include "helpers/Relay.hh"
-#include "helpers/UniqueTestDirectoryEnv.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -47,7 +46,6 @@ class ParticleEmitterTest : public ::testing::Test
   }
   public: void LoadWorld(const std::string &_path, bool _useLevels = false)
   {
-    this->serverConfig.SetResourceCache(test::UniqueTestDirectoryEnv::Path());
     this->serverConfig.SetSdfFile(
         common::joinPaths(PROJECT_SOURCE_PATH, _path));
     this->serverConfig.SetUseLevels(_useLevels);
@@ -165,7 +163,5 @@ TEST_F(ParticleEmitterTest, SDFLoad)
 int main(int _argc, char **_argv)
 {
   ::testing::InitGoogleTest(&_argc, _argv);
-  ::testing::AddGlobalTestEnvironment(
-      new test::UniqueTestDirectoryEnv("particle_emitter_test_cache"));
   return RUN_ALL_TESTS();
 }