Allow to turn on/off lights (#1343)

Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Mar 15, 2022 · 30f8b9e · 30f8b9e
1 parent b45f60f
commit 30f8b9e
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Showing 9 changed files with 154 additions and 11 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -47,7 +47,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat11 REQUIRED VERSION 11.2.1)
+ign_find_package(sdformat11 REQUIRED VERSION 11.4.0)
 set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
 #--------------------------------------

diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -568,6 +568,14 @@ 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());
+
   if (_in.Type() == sdf::LightType::POINT)
     out.set_type(msgs::Light_LightType_POINT);
   else if (_in.Type() == sdf::LightType::SPOT)
@@ -597,6 +605,25 @@ 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());
+
+  // 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)

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -153,6 +153,21 @@ 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({
@@ -176,7 +191,8 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data)
     QVariant(_data.spot_outer_angle()),
     QVariant(_data.spot_falloff()),
     QVariant(_data.intensity()),
-    QVariant(lightType)
+    QVariant(lightType),
+    QVariant(isLightOn)
   }), ComponentsModel::RoleNames().key("data"));
 }
 
@@ -989,7 +1005,8 @@ void ComponentInspector::OnLight(
   double _attRange, double _attLinear, double _attConstant,
   double _attQuadratic, bool _castShadows, double _directionX,
   double _directionY, double _directionZ, double _innerAngle,
-  double _outerAngle, double _falloff, double _intensity, int _type)
+  double _outerAngle, double _falloff, double _intensity, int _type,
+  bool _isLightOn)
 {
   std::function<void(const ignition::msgs::Boolean &, const bool)> cb =
       [](const ignition::msgs::Boolean &/*_rep*/, const bool _result)
@@ -999,6 +1016,14 @@ 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(),

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.hh b/src/gui/plugins/component_inspector/ComponentInspector.hh
@@ -252,14 +252,15 @@ namespace gazebo
     /// \param[in] _falloff Falloff of the spotlight
     /// \param[in] _intensity Intensity of the light
     /// \param[in] _type light type
+    /// \param[in] _isLightOn is light on
     public: Q_INVOKABLE void OnLight(
       double _rSpecular, double _gSpecular, double _bSpecular,
       double _aSpecular, double _rDiffuse, double _gDiffuse,
       double _bDiffuse, double _aDiffuse, double _attRange,
       double _attLinear, double _attConstant, double _attQuadratic,
       bool _castShadows, double _directionX, double _directionY,
       double _directionZ, double _innerAngle, double _outerAngle,
-      double _falloff, double _intensity, int _type);
+      double _falloff, double _intensity, int _type, bool _isLightOn);
 
     /// \brief Callback in Qt thread when physics' properties change.
     /// \param[in] _stepSize step size

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml
@@ -101,12 +101,14 @@ Rectangle {
                    _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
                    _attRange, _attLinear, _attConstant, _attQuadratic,
                    _castShadows, _directionX, _directionY, _directionZ,
-                   _innerAngle, _outerAngle, _falloff, _intensity, _type) {
+                   _innerAngle, _outerAngle, _falloff, _intensity, _type,
+                   _isLightOn) {
     ComponentInspector.OnLight(_rSpecular, _gSpecular, _bSpecular, _aSpecular,
                                _rDiffuse, _gDiffuse, _bDiffuse, _aDiffuse,
                                _attRange, _attLinear, _attConstant, _attQuadratic,
                                _castShadows, _directionX, _directionY, _directionZ,
-                               _innerAngle, _outerAngle, _falloff, _intensity, _type)
+                               _innerAngle, _outerAngle, _falloff, _intensity, _type,
+                               _isLightOn)
   }
 
   /*

diff --git a/src/gui/plugins/component_inspector/Light.qml b/src/gui/plugins/component_inspector/Light.qml
@@ -99,6 +99,9 @@ Rectangle {
   // Loaded item for intensity
   property var intensityItem: {}
 
+  // Loaded item for isLightOn
+  property var isLightOnItem: {}
+
   // Send new light data to C++
   function sendLight() {
     // TODO(anyone) There's a loss of precision when these values get to C++
@@ -123,7 +126,8 @@ Rectangle {
       outerAngleItem.value,
       falloffItem.value,
       intensityItem.value,
-      model.data[20]
+      model.data[20],
+      isLightOnItem.checked
     );
   }
 
@@ -285,6 +289,37 @@ Rectangle {
         id: grid
         width: parent.width
 
+        RowLayout {
+          Rectangle {
+            color: "transparent"
+            height: 40
+            Layout.preferredWidth: isOnText.width + indentation*3
+
+            Text {
+              id : isOnText
+              text: ' Turn on/off'
+              leftPadding: 5
+              color: Material.theme == Material.Light ? "#444444" : "#bbbbbb"
+              font.pointSize: 12
+              anchors.centerIn: parent
+            }
+          }
+          Item {
+            Layout.fillWidth: true
+            height: 40
+
+            Loader {
+              id: isOnLoader
+              anchors.fill: parent
+              property double numberValue: model.data[21]
+              sourceComponent: ignSwitch
+              onLoaded: {
+                isLightOnItem = isOnLoader.item
+              }
+            }
+          }
+        }
+
         RowLayout {
           Rectangle {
             color: "transparent"

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -2131,11 +2131,35 @@ void RenderUtilPrivate::UpdateLights(
     auto l = std::dynamic_pointer_cast<rendering::Light>(node);
     if (l)
     {
-      if (!ignition::math::equal(
-          l->Intensity(),
-          static_cast<double>(light.second.intensity())))
+      // 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 (!ignition::math::equal(
+            l->Intensity(),
+            static_cast<double>(light.second.intensity())))
+        {
+          l->SetIntensity(light.second.intensity());
+        }
+      }
+      else
       {
-        l->SetIntensity(light.second.intensity());
+        l->SetIntensity(0);
       }
       if (light.second.has_diffuse())
       {

diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
@@ -159,7 +159,28 @@ 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.type() == _b.type() &&
                 _a.name() == _b.name() &&
                 math::equal(

diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
@@ -760,6 +760,14 @@ 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);
+
+  // 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());