Plugin to spawn lights

include/ignition/gazebo/Conversions.hh

@@ -216,6 +216,12 @@ namespace ignition
     template<>
     msgs::Light convert(const sdf::Light &_in);
 
+    /// \brief Generic conversion from a SDF light type to string.
+    /// \param[in] _in SDF light type.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    std::string IGNITION_GAZEBO_VISIBLE
+    convert(const sdf::LightType &_in);
 
     /// \brief Generic conversion from a light message to another type.
     /// \param[in] _in Light message.
@@ -234,6 +240,12 @@ namespace ignition
     template<>
     sdf::Light convert(const msgs::Light &_in);
 
+    /// \brief Specialized conversion from a string to a sdf light type
+    /// \param[in] _in String with the light type.
+    /// \return Light type emun SDF object.
+    sdf::LightType IGNITION_GAZEBO_VISIBLE
+    convert(const std::string &_in);
+
     /// \brief Generic conversion from an SDF gui to another type.
     /// \param[in] _in SDF gui.
     /// \return Conversion result.

include/ignition/gazebo/components/LightType.hh

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2021 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_LIGHTTYPE_HH_
+#define IGNITION_GAZEBO_COMPONENTS_LIGHTTYPE_HH_
+
+#include <string>
+#include <memory>
+#include <sdf/Light.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief A component that contains the light type. This is a simple wrapper
+  /// around std::string
+  using LightType = Component<std::string, class LightTypeTag,
+      serializers::StringSerializer>;
+  IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.LightType", LightType)
+}
+}
+}
+}
+
+#endif

include/ignition/gazebo/rendering/SceneManager.hh

@@ -148,6 +148,14 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: rendering::LightPtr CreateLight(Entity _id,
         const sdf::Light &_light, Entity _parentId);
 
+    /// \brief Create a light
+    /// \param[in] _id Unique light id
+    /// \param[in] _light Light sdf dom
+    /// \param[in] _parentId Parent id
+    /// \return Light object created from the sdf dom
+    public: rendering::VisualPtr CreateLightVisual(Entity _id,
+        const sdf::Light &_light, Entity _parentId);
+
     /// \brief Ignition sensors is the one responsible for adding sensors
     /// to the scene. Here we just keep track of it and make sure it has
     /// the correct parent.

src/Conversions.cc

@@ -60,6 +60,7 @@
 #include <sdf/Plane.hh>
 #include <sdf/Sphere.hh>
 
+#include <algorithm>
 #include <string>
 
 #include "ignition/gazebo/Conversions.hh"
@@ -865,6 +866,44 @@ void ignition::gazebo::set(msgs::SensorNoise *_msg, const sdf::Noise &_sdf)
   _msg->set_dynamic_bias_correlation_time(_sdf.DynamicBiasCorrelationTime());
 }
 
+//////////////////////////////////////////////////
+std::string ignition::gazebo::convert(const sdf::LightType &_in)
+{
+  if (_in == sdf::LightType::POINT)
+  {
+    return std::string("point");
+  }
+  else if (_in == sdf::LightType::DIRECTIONAL)
+  {
+    return std::string("directional");
+  }
+  else if (_in == sdf::LightType::SPOT)
+  {
+    return std::string("spot");
+  }
+  return std::string("");
+}
+
+//////////////////////////////////////////////////
+sdf::LightType ignition::gazebo::convert(const std::string &_in)
+{
+  std::string inLowerCase = _in;
+  std::transform(_in.begin(), _in.end(), inLowerCase.begin(), ::tolower);
+  if (inLowerCase == "point")
+  {
+    return sdf::LightType::POINT;
+  }
+  else if (inLowerCase == "directional")
+  {
+    return sdf::LightType::DIRECTIONAL;
+  }
+  else if (inLowerCase == "spot")
+  {
+    return sdf::LightType::SPOT;
+  }
+  return sdf::LightType::INVALID;
+}
+
 //////////////////////////////////////////////////
 template<>
 IGNITION_GAZEBO_VISIBLE

src/Conversions_TEST.cc

@@ -105,6 +105,16 @@ TEST(Conversions, Light)
   EXPECT_EQ(math::Angle(3.3), newLight.SpotOuterAngle());
   EXPECT_FLOAT_EQ(0.9, newLight.SpotFalloff());
   EXPECT_FLOAT_EQ(1.7, newLight.Intensity());
+
+  EXPECT_EQ("", convert(sdf::LightType::INVALID));
+  EXPECT_EQ("point", convert(sdf::LightType::POINT));
+  EXPECT_EQ("directional", convert(sdf::LightType::DIRECTIONAL));
+  EXPECT_EQ("spot", convert(sdf::LightType::SPOT));
+
+  EXPECT_EQ(sdf::LightType::POINT, convert("POINT"));
+  EXPECT_EQ(sdf::LightType::DIRECTIONAL, convert("DireCtiOnal"));
+  EXPECT_EQ(sdf::LightType::SPOT, convert("spot"));
+  EXPECT_EQ(sdf::LightType::INVALID, convert("gazebo"));
 }
 
 /////////////////////////////////////////////////

src/SdfEntityCreator.cc

@@ -43,6 +43,7 @@
 #include "ignition/gazebo/components/JointType.hh"
 #include "ignition/gazebo/components/Lidar.hh"
 #include "ignition/gazebo/components/Light.hh"
+#include "ignition/gazebo/components/LightType.hh"
 #include "ignition/gazebo/components/LinearAcceleration.hh"
 #include "ignition/gazebo/components/LinearVelocity.hh"
 #include "ignition/gazebo/components/Link.hh"
@@ -379,6 +380,9 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Light *_light)
   this->dataPtr->ecm->CreateComponent(lightEntity,
       components::Name(_light->Name()));
 
+  this->dataPtr->ecm->CreateComponent(lightEntity,
+    components::LightType(convert(_light->Type())));
+
   return lightEntity;
 }
 

src/gui/gui.config

@@ -120,6 +120,22 @@
   </ignition-gui>
 </plugin>
 
+<!-- Insert lights -->
+<plugin filename="Lights" name="Lights">
+  <ignition-gui>
+    <anchors target="Shapes">
+      <line own="left" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">250</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </ignition-gui>
+</plugin>
+
 <!-- Inspector -->
 <plugin filename="ComponentInspector" name="Component inspector">
   <ignition-gui>

src/gui/plugins/CMakeLists.txt

@@ -85,6 +85,7 @@ add_subdirectory(align_tool)
 add_subdirectory(component_inspector)
 add_subdirectory(entity_tree)
 add_subdirectory(grid_config)
+add_subdirectory(lights)
 add_subdirectory(playback_scrubber)
 add_subdirectory(plotting)
 add_subdirectory(resource_spawner)

src/gui/plugins/component_inspector/ComponentInspector.cc

@@ -35,6 +35,7 @@
 #include "ignition/gazebo/components/Joint.hh"
 #include "ignition/gazebo/components/Level.hh"
 #include "ignition/gazebo/components/Light.hh"
+#include "ignition/gazebo/components/LightType.hh"
 #include "ignition/gazebo/components/LinearAcceleration.hh"
 #include "ignition/gazebo/components/LinearVelocity.hh"
 #include "ignition/gazebo/components/LinearVelocitySeed.hh"
@@ -500,6 +501,12 @@ void ComponentInspector::Update(const UpdateInfo &,
       if (this->dataPtr->entity == this->dataPtr->worldEntity)
         this->dataPtr->worldName = comp->Data();
     }
+    else if (typeId == components::LightType::typeId)
+    {
+      auto comp = _ecm.Component<components::LightType>(this->dataPtr->entity);
+      if (comp)
+        setData(item, comp->Data());
+    }
     else if (typeId == components::ParentEntity::typeId)
     {
       auto comp = _ecm.Component<components::ParentEntity>(

src/gui/plugins/lights/CMakeLists.txt

@@ -0,0 +1,4 @@
+gz_add_gui_plugin(Lights
+  SOURCES Lights.cc
+  QT_HEADERS Lights.hh
+)

src/gui/plugins/lights/Lights.cc

@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2021 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 "Lights.hh"
+
+#include <ignition/msgs/boolean.pb.h>
+#include <ignition/msgs/stringmsg.pb.h>
+
+#include <algorithm>
+#include <iostream>
+#include <string>
+
+#include <ignition/common/Console.hh>
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+#include <ignition/transport/Publisher.hh>
+
+#include "ignition/gazebo/EntityComponentManager.hh"
+#include "ignition/gazebo/gui/GuiEvents.hh"
+
+namespace ignition::gazebo
+{
+  class LightsPrivate
+  {
+  };
+}
+
+using namespace ignition;
+using namespace gazebo;
+
+/////////////////////////////////////////////////
+Lights::Lights()
+  : ignition::gui::Plugin(),
+  dataPtr(std::make_unique<LightsPrivate>())
+{
+}
+
+/////////////////////////////////////////////////
+Lights::~Lights() = default;
+
+/////////////////////////////////////////////////
+void Lights::LoadConfig(const tinyxml2::XMLElement *)
+{
+  if (this->title.empty())
+    this->title = "Lights";
+}
+
+/////////////////////////////////////////////////
+void Lights::OnNewLightClicked(const QString &_sdfString)
+{
+  std::string modelSdfString = _sdfString.toStdString();
+  std::transform(modelSdfString.begin(), modelSdfString.end(),
+                 modelSdfString.begin(), ::tolower);
+
+  if (modelSdfString == "point")
+  {
+    modelSdfString = std::string("<?xml version=\"1.0\"?>"
+                                 "<sdf version=\"1.6\">"
+                                 "<light type='point' name='pointlight'>"
+                                   "<pose>0 0 2 0 0 0</pose>"
+                                   "<cast_shadows>false</cast_shadows>"
+                                   "<diffuse>0.5 0.5 0.5 1</diffuse>"
+                                   "<specular>0.5 0.5 0.5 1</specular>"
+                                   "<attenuation>"
+                                     "<range>4</range>"
+                                     "<constant>0.2</constant>"
+                                     "<linear>0.5</linear>"
+                                     "<quadratic>0.01</quadratic>"
+                                   "</attenuation>"
+                                 "</light>"
+                                 "</sdf>");
+  }
+  else if (modelSdfString == "directional")
+  {
+    modelSdfString = std::string("<?xml version=\"1.0\"?>"
+                                 "<sdf version=\"1.6\">"
+                                 "<light type='directional'"
+                                  "name='directionallight'>"
+                                   "<pose>0 0 5 0 0 0</pose>"
+                                   "<cast_shadows>true</cast_shadows>"
+                                   "<diffuse>0.8 0.8 0.8 1</diffuse>"
+                                   "<specular>0.2 0.2 0.2 1</specular>"
+                                   "<attenuation>"
+                                     "<range>1000</range>"
+                                     "<constant>0.9</constant>"
+                                     "<linear>0.01</linear>"
+                                     "<quadratic>0.001</quadratic>"
+                                   "</attenuation>"
+                                   "<direction>0 0 -1</direction>"
+                                 "</light>"
+                                 "</sdf>");
+  }
+  else if (modelSdfString == "spot")
+  {
+    modelSdfString = std::string("<?xml version=\"1.0\"?>"
+                                 "<sdf version=\"1.6\">"
+                                 "<light type='spot' name='spotlight'>"
+                                   "<pose>0 0 2 0 0 0</pose>"
+                                   "<cast_shadows>true</cast_shadows>"
+                                   "<diffuse>0.5 0.5 0.5 1</diffuse>"
+                                   "<specular>0.5 0.5 0.5 1</specular>"
+                                   "<attenuation>"
+                                     "<range>4</range>"
+                                     "<constant>0.2</constant>"
+                                     "<linear>0.5</linear>"
+                                     "<quadratic>0.01</quadratic>"
+                                   "</attenuation>"
+                                   "<direction>0 0 -1</direction>"
+                                   "<spot>"
+                                     "<inner_angle>0.1</inner_angle>"
+                                     "<outer_angle>0.5</outer_angle>"
+                                     "<falloff>0.8</falloff>"
+                                   "</spot>"
+                                 "</light>"
+                                 "</sdf>");
+  }
+  else
+  {
+    ignwarn << "Invalid model string " << modelSdfString << "\n";
+    ignwarn << "The valid options are:\n";
+    ignwarn << " - point\n";
+    ignwarn << " - directional\n";
+    ignwarn << " - spot\n";
+    return;
+  }
+
+  ignition::gui::events::SpawnFromDescription event(modelSdfString);
+  ignition::gui::App()->sendEvent(
+        ignition::gui::App()->findChild<ignition::gui::MainWindow *>(),
+        &event);
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(ignition::gazebo::Lights,
+                    ignition::gui::Plugin)