Added particle emitters to scene broadcaster

src/systems/scene_broadcaster/SceneBroadcaster.cc

@@ -49,6 +49,7 @@
 #include "ignition/gazebo/components/Model.hh"
 #include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
+#include "ignition/gazebo/components/ParticleEmitter.hh"
 #include "ignition/gazebo/components/Pose.hh"
 #include "ignition/gazebo/components/RgbdCamera.hh"
 #include "ignition/gazebo/components/Scene.hh"
@@ -156,6 +157,15 @@ class ignition::gazebo::systems::SceneBroadcasterPrivate
   public: static void AddSensors(msgs::Link *_msg, const Entity _entity,
                                  const SceneGraphType &_graph);
 
+  /// \brief Adds particle emitters to a msgs::Link object based on the
+  /// contents of the scene graph
+  /// \param[inout] _msg Pointer to msg object to which the particle
+  /// emitters will be added.
+  /// \param[in] _entity Parent entity in the graph
+  /// \param[in] _graph Scene graph
+  public: static void AddParticleEmitters(msgs::Link *_msg,
+              const Entity _entity, const SceneGraphType &_graph);
+
   /// \brief Recursively remove entities from the graph
   /// \param[in] _entity Entity
   /// \param[in/out] _graph Scene graph
@@ -995,6 +1005,26 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities(
         return true;
       });
 
+  // Particle emitters
+  _manager.EachNew<components::ParticleEmitter, components::ParentEntity,
+    components::Pose>(
+      [&](const Entity &_entity,
+          const components::ParticleEmitter *_emitterComp,
+          const components::ParentEntity *_parentComp,
+          const components::Pose *_poseComp) -> bool
+      {
+        auto emitterMsg = std::make_shared<msgs::ParticleEmitter>();
+        emitterMsg->CopyFrom(_emitterComp->Data());
+        emitterMsg->set_id(_entity);
+        emitterMsg->mutable_pose()->CopyFrom(msgs::Convert(_poseComp->Data()));
+
+        // Add to graph
+        newGraph.AddVertex(emitterMsg->name(), emitterMsg, _entity);
+        newGraph.AddEdge({_parentComp->Data(), _entity}, true);
+        newEntity = true;
+        return true;
+      });
+
   // Update the whole scene graph from the new graph
   {
     std::lock_guard<std::mutex> lock(this->graphMutex);
@@ -1158,6 +1188,24 @@ void SceneBroadcasterPrivate::AddSensors(msgs::Link *_msg, const Entity _entity,
   }
 }
 
+//////////////////////////////////////////////////
+void SceneBroadcasterPrivate::AddParticleEmitters(msgs::Link *_msg,
+    const Entity _entity, const SceneGraphType &_graph)
+{
+  if (!_msg)
+    return;
+
+  for (const auto &vertex : _graph.AdjacentsFrom(_entity))
+  {
+    auto emitterMsg = std::dynamic_pointer_cast<msgs::ParticleEmitter>(
+        vertex.second.get().Data());
+    if (!emitterMsg)
+      continue;
+
+    _msg->add_particle_emitter()->CopyFrom(*emitterMsg);
+  }
+}
+
 //////////////////////////////////////////////////
 void SceneBroadcasterPrivate::AddLinks(msgs::Model *_msg, const Entity _entity,
                                        const SceneGraphType &_graph)
@@ -1183,6 +1231,9 @@ void SceneBroadcasterPrivate::AddLinks(msgs::Model *_msg, const Entity _entity,
 
     // Sensors
     AddSensors(msgOut, vertex.second.get().Id(), _graph);
+
+    // Particle emitters
+    AddParticleEmitters(msgOut, vertex.second.get().Id(), _graph);
   }
 }
 

test/integration/scene_broadcaster_system.cc

@@ -952,6 +952,63 @@ TEST_P(SceneBroadcasterTest,
   EXPECT_FALSE(res.has_sky());
 }
 
+TEST_P(SceneBroadcasterTest,
+    IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfoHasParticleEmitter))
+{
+  // Start server
+  ignition::gazebo::ServerConfig serverConfig;
+  serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
+      common::joinPaths("/", "test", "worlds", "particle_emitter2.sdf"));
+
+  gazebo::Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(*server.Running(0));
+
+  // Run server
+  server.Run(true, 1, false);
+
+  // Create requester
+  transport::Node node;
+
+  bool result{false};
+  unsigned int timeout{5000};
+  ignition::msgs::Scene res;
+
+  EXPECT_TRUE(node.Request("/world/particle_emitters/scene/info",
+        timeout, res, result));
+  ASSERT_TRUE(result);
+
+  ASSERT_EQ(3, res.model_size());
+  int count = 0;
+  for (int i = 0; i < res.model_size(); ++i)
+  {
+    if (res.model(i).name() == "smoke_generator_demo_model")
+    {
+      count++;
+      // There should be one link
+      ASSERT_EQ(1, res.model(i).link_size());
+      // The link should have one particle emitter
+      ASSERT_EQ(1, res.model(i).link(0).particle_emitter_size());
+
+      // Check a few parameter values to make sure we have the correct
+      // particle emittter
+      const msgs::ParticleEmitter &emitter =
+        res.model(i).link(0).particle_emitter(0);
+      EXPECT_EQ("smoke_emitter", emitter.name());
+      EXPECT_EQ(math::Pose3d(0, 1, 0, 0, 0, 0), msgs::Convert(emitter.pose()));
+      EXPECT_EQ(math::Vector3d(2, 2, 2), msgs::Convert(emitter.size()));
+      EXPECT_DOUBLE_EQ(5.0, emitter.rate().data());
+      EXPECT_DOUBLE_EQ(1.0, emitter.duration().data());
+      EXPECT_EQ(math::Vector3d(3, 3, 3),
+          msgs::Convert(emitter.particle_size()));
+      EXPECT_DOUBLE_EQ(2.0, emitter.lifetime().data());
+    }
+  }
+
+  // Should have found 1 particle emitter.
+  EXPECT_EQ(1, count);
+}
+
 // Run multiple times
 INSTANTIATE_TEST_SUITE_P(ServerRepeat, SceneBroadcasterTest,
     ::testing::Range(1, 2));

test/worlds/particle_emitter2.sdf

@@ -11,6 +11,10 @@
       filename="ignition-gazebo-particle-emitter2-system"
       name="ignition::gazebo::systems::ParticleEmitter2">
     </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>