Allow to create light with the create service (#513)

Signed-off-by: ahcorde <[email protected]> Co-authored-by: Ian Chen <[email protected]> Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
gazebosim · Jan 20, 2021 · 4dbf229 · 4dbf229
1 parent bccea90
commit 4dbf229
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Showing 3 changed files with 49 additions and 5 deletions.
diff --git a/examples/worlds/empty.sdf b/examples/worlds/empty.sdf
@@ -50,6 +50,14 @@ ign service -s /world/empty/remove \
 --timeout 300 \
 --req 'name: "spawned_light" type: LIGHT'
 
+  Insert a light using a message and allow_renaming:
+
+ign service -s /world/empty/create \
+--reqtype ignition.msgs.EntityFactory \
+--reptype ignition.msgs.Boolean \
+--timeout 300 \
+--req 'allow_renaming: true, light: {name: "spawned_light", type: 2, diffuse: {r: 1}}'
+
 -->
 <sdf version="1.6">
   <world name="empty">

diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
@@ -403,6 +403,7 @@ bool CreateCommand::Execute()
 
   // Load SDF
   sdf::Root root;
+  sdf::Light lightSdf;
   sdf::Errors errors;
   switch (createMsg->from_case())
   {
@@ -424,9 +425,8 @@ bool CreateCommand::Execute()
     }
     case msgs::EntityFactory::kLight:
     {
-      // TODO(louise) Support light msg
-      ignerr << "light field not yet supported." << std::endl;
-      return false;
+      lightSdf = convert<sdf::Light>(createMsg->light());
+      break;
     }
     case msgs::EntityFactory::kCloneName:
     {
@@ -451,18 +451,26 @@ bool CreateCommand::Execute()
   bool isModel{false};
   bool isLight{false};
   bool isActor{false};
+  bool isRoot{false};
   if (root.ModelCount() > 0)
   {
+    isRoot = true;
     isModel = true;
   }
   else if (root.LightCount() > 0)
   {
+    isRoot = true;
     isLight = true;
   }
   else if (root.ActorCount() > 0)
   {
+    isRoot = true;
     isActor = true;
   }
+  else if (!lightSdf.Name().empty())
+  {
+    isLight = true;
+  }
   else
   {
     ignerr << "Expected exactly one top-level <model>, <light> or <actor> on"
@@ -486,10 +494,14 @@ bool CreateCommand::Execute()
   {
     desiredName = root.ModelByIndex(0)->Name();
   }
-  else if (isLight)
+  else if (isLight && isRoot)
   {
     desiredName = root.LightByIndex(0)->Name();
   }
+  else if (isLight)
+  {
+    desiredName = lightSdf.Name();
+  }
   else if (isActor)
   {
     desiredName = root.ActorByIndex(0)->Name();
@@ -528,12 +540,17 @@ bool CreateCommand::Execute()
     model.SetName(desiredName);
     entity = this->iface->creator->CreateEntities(&model);
   }
-  else if (isLight)
+  else if (isLight && isRoot)
   {
     auto light = root.LightByIndex(0);
     light->SetName(desiredName);
     entity = this->iface->creator->CreateEntities(light);
   }
+  else if (isLight)
+  {
+    lightSdf.SetName(desiredName);
+    entity = this->iface->creator->CreateEntities(&lightSdf);
+  }
   else if (isActor)
   {
     auto actor = *root.ActorByIndex(0);

diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
@@ -223,6 +223,25 @@ TEST_F(UserCommandsTest, Create)
 
   EXPECT_NE(nullptr, ecm->Component<components::Light>(light));
 
+  // Request entity spawn
+  req.Clear();
+  req.mutable_light()->set_name("light_test");
+  req.mutable_light()->set_parent_id(1);
+  EXPECT_TRUE(node.Request(service, req, timeout, res, result));
+  EXPECT_TRUE(result);
+  EXPECT_TRUE(res.data());
+
+  // Run an iteration and check it was created
+  server.Run(true, 1, false);
+
+  EXPECT_EQ(entityCount + 1, ecm->EntityCount());
+  entityCount = ecm->EntityCount();
+
+  light = ecm->EntityByComponents(components::Name("light_test"));
+  EXPECT_NE(kNullEntity, light);
+
+  EXPECT_NE(nullptr, ecm->Component<components::Light>(light));
+
   // Queue commands and check they're all executed in the same iteration
   req.Clear();
   req.set_sdf(modelStr);