Add Light Usercommand and include Light parameters in the componentIn…

…spector (#482)

Signed-off-by: ahcorde <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>

examples/standalone/light_control/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+find_package(ignition-transport9 QUIET REQUIRED OPTIONAL_COMPONENTS log)
+set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
+
+find_package(ignition-gazebo4 REQUIRED)
+set(IGN_GAZEBO_VER ${ignition-gazebo4_VERSION_MAJOR})
+
+add_executable(light_control light_control.cc)
+target_link_libraries(light_control
+  ignition-transport${IGN_TRANSPORT_VER}::core
+  ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER})

examples/standalone/light_control/light_control.cc

@@ -0,0 +1,179 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <chrono>
+#include <iostream>
+
+#include <ignition/gazebo/components/Light.hh>
+#include <ignition/gazebo/components/LightCmd.hh>
+#include <ignition/msgs.hh>
+#include <ignition/transport.hh>
+
+using namespace std::chrono_literals;
+
+// Create a transport node.
+ignition::transport::Node node;
+
+bool result;
+// timeout used for services
+constexpr unsigned int timeout = 5000;
+
+std::mt19937 twister(std::time(0));
+std::uniform_real_distribution<double> distr(0, 1000);
+constexpr double epsilon = 0.1;
+
+float directionX = 0.5;
+float directionY = 0.2;
+float directionZ = -0.9;
+
+void createLight()
+{
+  ignition::msgs::Boolean rep;
+//! [create light]
+  ignition::msgs::EntityFactory entityFactoryRequest;
+
+  entityFactoryRequest.mutable_light()->set_name("point");
+  entityFactoryRequest.mutable_light()->set_range(4);
+  entityFactoryRequest.mutable_light()->set_attenuation_linear(0.5);
+  entityFactoryRequest.mutable_light()->set_attenuation_constant(0.2);
+  entityFactoryRequest.mutable_light()->set_attenuation_quadratic(0.01);
+  entityFactoryRequest.mutable_light()->set_cast_shadows(false);
+  entityFactoryRequest.mutable_light()->set_type(ignition::msgs::Light::POINT);
+  ignition::msgs::Set(
+    entityFactoryRequest.mutable_light()->mutable_direction(),
+    ignition::math::Vector3d(directionX, directionY, directionZ));
+  ignition::msgs::Set(entityFactoryRequest.mutable_light()->mutable_pose(),
+    ignition::math::Pose3d(0.0, 0, 3.0, 0.0, 0.0, 0.0));
+//! [create light]
+
+  bool executedEntityFactory = node.Request("/world/empty/create",
+        entityFactoryRequest, timeout, rep, result);
+  if (executedEntityFactory)
+  {
+    if (result)
+      std::cout << "Light was created : [" << rep.data() << "]" << std::endl;
+    else
+    {
+      std::cout << "Service call failed" << std::endl;
+      return;
+    }
+  }
+  else
+    std::cerr << "Service call timed out" << std::endl;
+}
+
+void createSphere()
+{
+  auto modelStr = R"(
+  <?xml version="1.0" ?>
+  <sdf version='1.7'>
+    <model name='sphere'>
+      <link name='link'>
+        <pose>0 0 0.5 0 0 0</pose>
+        <visual name='visual'>
+          <geometry><sphere><radius>1</radius></sphere></geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry><sphere><radius>1</radius></sphere></geometry>
+        </collision>
+      </link>
+    </model>
+  </sdf>)";
+
+  ignition::msgs::EntityFactory req;
+  ignition::msgs::Boolean res;
+  req.set_sdf(modelStr);
+
+  bool executed = node.Request("/world/empty/create",
+            req, timeout, res, result);
+  if (executed)
+  {
+    if (result)
+      std::cout << "Sphere was created : [" << res.data() << "]" << std::endl;
+    else
+    {
+      std::cout << "Service call failed" << std::endl;
+      return;
+    }
+  }
+  else
+    std::cerr << "Service call timed out" << std::endl;
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ignition::msgs::Boolean rep;
+  ignition::msgs::Light lightRequest;
+  auto lightConfigService = "/world/empty/light_config";
+
+  createSphere();
+  createLight();
+
+  while (1)
+  {
+    float r, g, b;
+    double m = 0;
+//! [random numbers]
+    while (m < epsilon)
+    {
+      r = distr(twister);
+      g = distr(twister);
+      b = distr(twister);
+      m = std::sqrt(r*r + b*b + g*g);
+    }
+    r /= m;
+    b /= m;
+    b /= m;
+//! [random numbers]
+
+//! [modify light]
+    lightRequest.set_name("point");
+    lightRequest.set_range(4);
+    lightRequest.set_attenuation_linear(0.5);
+    lightRequest.set_attenuation_constant(0.2);
+    lightRequest.set_attenuation_quadratic(0.01);
+    lightRequest.set_cast_shadows(false);
+    lightRequest.set_type(ignition::msgs::Light::POINT);
+    // direction field only affects spot / directional lights
+    ignition::msgs::Set(lightRequest.mutable_direction(),
+      ignition::math::Vector3d(directionX, directionY, directionZ));
+    ignition::msgs::Set(lightRequest.mutable_pose(),
+      ignition::math::Pose3d(0.0, -1.5, 3.0, 0.0, 0.0, 0.0));
+    ignition::msgs::Set(lightRequest.mutable_diffuse(),
+      ignition::math::Color(r, g, b, 1));
+    ignition::msgs::Set(lightRequest.mutable_specular(),
+      ignition::math::Color(r, g, b, 1));
+//! [modify light]
+    bool executed = node.Request(lightConfigService, lightRequest, timeout,
+        rep, result);
+    std::cout << "Service called: [" << r << ", " << g << ", " << b << "]"
+      << std::endl;
+
+    if (executed)
+    {
+      if (result)
+        std::cout << "Response: [" << rep.data() << "]" << std::endl;
+      else
+        std::cout << "Service call failed" << std::endl;
+    }
+    else
+      std::cerr << "Service call timed out" << std::endl;
+
+    std::this_thread::sleep_for(1s);
+  }
+}

include/ignition/gazebo/components/LightCmd.hh

@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_COMPONENTS_LIGHTCMD_HH_
+#define IGNITION_GAZEBO_COMPONENTS_LIGHTCMD_HH_
+
+#include <sdf/Light.hh>
+
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+
+#include <ignition/msgs/light.pb.h>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component type that contains commanded light of an
+  /// entity in the world frame represented by msgs::Light.
+  using LightCmd = Component<ignition::msgs::Light,
+    class LightCmdTag, serializers::MsgSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LightCmd",
+      LightCmd)
+}
+}
+}
+}
+#endif