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Light Commands via topic #1222

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Merged
merged 13 commits into from
Dec 28, 2021
Merged

Light Commands via topic #1222

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b431ed8
Added light config topic
WilliamLewww Nov 9, 2021
4ea912c
Added light controller directory
WilliamLewww Nov 9, 2021
0630b56
Added light controller
WilliamLewww Nov 12, 2021
44ed7f2
Added light command to light controller
WilliamLewww Nov 12, 2021
75076ed
Added single light setting configuration using name
WilliamLewww Nov 15, 2021
551142d
Added all settings for light controller
WilliamLewww Nov 15, 2021
45f878e
Use header instead of name for selecting properties
WilliamLewww Nov 29, 2021
773720f
Added code suggestion
WilliamLewww Dec 7, 2021
1ff7de5
Merge branch 'ign-gazebo6' into wlew/light_commands
WilliamLewww Dec 7, 2021
7442411
Removed light controller
WilliamLewww Dec 9, 2021
7d704f4
Merge branch 'ign-gazebo6' into wlew/light_commands
WilliamLewww Dec 20, 2021
691384c
Added integration test for light_config topic
WilliamLewww Dec 28, 2021
8b224bc
Added code suggestions
WilliamLewww Dec 28, 2021
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23 changes: 23 additions & 0 deletions src/systems/user_commands/UserCommands.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -443,6 +443,10 @@ class ignition::gazebo::systems::UserCommandsPrivate
/// \return True if successful.
public: bool LightService(const msgs::Light &_req, msgs::Boolean &_res);

/// \brief Callback for light subscription
/// \param[in] _msg Light message
public: void OnCmdLight(const msgs::Light &_msg);

/// \brief Callback for pose service
/// \param[in] _req Request containing pose update of an entity.
/// \param[out] _res True if message successfully received and queued.
Expand Down Expand Up @@ -602,6 +606,10 @@ void UserCommands::Configure(const Entity &_entity,
ignmsg << "Light configuration service on [" << lightService << "]"
<< std::endl;

std::string lightTopic{"/world/" + validWorldName + "/light_config"};
this->dataPtr->node.Subscribe(lightTopic, &UserCommandsPrivate::OnCmdLight,
this->dataPtr.get());

// Physics service
std::string physicsService{"/world/" + validWorldName + "/set_physics"};
this->dataPtr->node.Advertise(physicsService,
Expand Down Expand Up @@ -754,6 +762,21 @@ bool UserCommandsPrivate::LightService(const msgs::Light &_req,
return true;
}

//////////////////////////////////////////////////
void UserCommandsPrivate::OnCmdLight(const msgs::Light &_msg)
{
auto msg = _msg.New();
msg->CopyFrom(_msg);
auto cmd = std::make_unique<LightCommand>(msg, this->iface);

// Push to pending
{
std::lock_guard<std::mutex> lock(this->pendingMutex);
this->pendingCmds.push_back(std::move(cmd));
}
}


//////////////////////////////////////////////////
bool UserCommandsPrivate::PoseService(const msgs::Pose &_req,
msgs::Boolean &_res)
Expand Down
23 changes: 21 additions & 2 deletions test/integration/user_commands.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -693,8 +693,8 @@ TEST_F(UserCommandsTest, Light)
{
// Start server
ServerConfig serverConfig;
const auto sdfFile = ignition::common::joinPaths(
std::string(PROJECT_SOURCE_PATH), "test", "worlds", "lights_render.sdf");
const auto sdfFile = std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/lights_render.sdf";
serverConfig.SetSdfFile(sdfFile);

Server server(serverConfig);
Expand Down Expand Up @@ -919,6 +919,25 @@ TEST_F(UserCommandsTest, Light)
EXPECT_NEAR(1.5, spotLightComp->Data().SpotInnerAngle().Radian(), 0.1);
EXPECT_NEAR(0.3, spotLightComp->Data().SpotOuterAngle().Radian(), 0.1);
EXPECT_NEAR(0.9, spotLightComp->Data().SpotFalloff(), 0.1);

// Test light_config topic
const std::string lightTopic = "/world/lights_command/light_config";

msgs::Light lightMsg;
lightMsg.set_name("spot");
ignition::msgs::Set(lightMsg.mutable_diffuse(),
ignition::math::Color(1.0f, 1.0f, 1.0f, 1.0f));

// Publish joint trajectory
auto pub = node.Advertise<msgs::Light>(lightTopic);
pub.Publish(lightMsg);

server.Run(true, 100, false);
// Sleep for a small duration to allow Run thread to start
IGN_SLEEP_MS(10);

EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f),
spotLightComp->Data().Diffuse());
}

/////////////////////////////////////////////////
Expand Down