From 43578d88ce8622985180029fc269d34a8d93a243 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Tue, 16 Jan 2024 21:30:29 -0500
Subject: [PATCH] Use MaterialColor Apply Enum and Entity.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 src/systems/user_commands/UserCommands.cc | 86 +++++++++++++----------
 test/integration/user_commands.cc         |  3 +-
 test/worlds/material_color.sdf            | 59 ----------------
 3 files changed, 51 insertions(+), 97 deletions(-)
 delete mode 100644 test/worlds/material_color.sdf

diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
index cca4feb7896..677d1a9f00b 100644
--- a/src/systems/user_commands/UserCommands.cc
+++ b/src/systems/user_commands/UserCommands.cc
@@ -969,32 +969,57 @@ bool UserCommandsPrivate::VisualService(const msgs::Visual &_req,
 void UserCommandsPrivate::OnCmdMaterialColor(const msgs::MaterialColor &_msg)
 {
   msgs::Visual _req;
-  auto msg = _req.New();
-  msg->set_name(_msg.name());
-  msg->set_parent_name(_msg.parent_name());
-  msg->mutable_material()->mutable_ambient()->set_r(_msg.ambient().r());
-  msg->mutable_material()->mutable_ambient()->set_g(_msg.ambient().g());
-  msg->mutable_material()->mutable_ambient()->set_b(_msg.ambient().b());
-  msg->mutable_material()->mutable_ambient()->set_a(_msg.ambient().a());
-  msg->mutable_material()->mutable_diffuse()->set_r(_msg.diffuse().r());
-  msg->mutable_material()->mutable_diffuse()->set_g(_msg.diffuse().g());
-  msg->mutable_material()->mutable_diffuse()->set_b(_msg.diffuse().b());
-  msg->mutable_material()->mutable_diffuse()->set_a(_msg.diffuse().a());
-  msg->mutable_material()->mutable_specular()->set_r(_msg.specular().r());
-  msg->mutable_material()->mutable_specular()->set_g(_msg.specular().g());
-  msg->mutable_material()->mutable_specular()->set_b(_msg.specular().b());
-  msg->mutable_material()->mutable_specular()->set_a(_msg.specular().a());
-  msg->mutable_material()->mutable_emissive()->set_r(_msg.emissive().r());
-  msg->mutable_material()->mutable_emissive()->set_g(_msg.emissive().g());
-  msg->mutable_material()->mutable_emissive()->set_b(_msg.emissive().b());
-  msg->mutable_material()->mutable_emissive()->set_a(_msg.emissive().a());
-
-  auto cmd = std::make_unique<VisualCommand>(msg, this->iface);
+  int numberOfEntities = 1;
+  auto entities = entitiesFromScopedName(_msg.entity().name(),
+      *this->iface->ecm);
+  if (entities.empty())
+  {
+    gzwarn << "Entity name: " << _msg.entity().name() << ", is not found."
+           << std::endl;
+    return;
+  }
+  if ((entities.size() > 1) &&
+    (_msg.apply() ==
+      gz::msgs::MaterialColor::Apply::MaterialColor_Apply_ALL))
+  {
+    numberOfEntities=entities.size();
+  }
 
-  // Push to pending
+  for (int i = 0; i < numberOfEntities; i++)
   {
-    std::lock_guard<std::mutex> lock(this->pendingMutex);
-    this->pendingCmds.push_back(std::move(cmd));
+    auto msg = _req.New();
+    if (entities.size() == 1)
+    {
+      msg->set_id(*entities.begin());
+    }
+    else
+    {
+      msg->set_id(*entities.begin());
+    }
+    msg->mutable_material()->mutable_ambient()->set_r(_msg.ambient().r());
+    msg->mutable_material()->mutable_ambient()->set_g(_msg.ambient().g());
+    msg->mutable_material()->mutable_ambient()->set_b(_msg.ambient().b());
+    msg->mutable_material()->mutable_ambient()->set_a(_msg.ambient().a());
+    msg->mutable_material()->mutable_diffuse()->set_r(_msg.diffuse().r());
+    msg->mutable_material()->mutable_diffuse()->set_g(_msg.diffuse().g());
+    msg->mutable_material()->mutable_diffuse()->set_b(_msg.diffuse().b());
+    msg->mutable_material()->mutable_diffuse()->set_a(_msg.diffuse().a());
+    msg->mutable_material()->mutable_specular()->set_r(_msg.specular().r());
+    msg->mutable_material()->mutable_specular()->set_g(_msg.specular().g());
+    msg->mutable_material()->mutable_specular()->set_b(_msg.specular().b());
+    msg->mutable_material()->mutable_specular()->set_a(_msg.specular().a());
+    msg->mutable_material()->mutable_emissive()->set_r(_msg.emissive().r());
+    msg->mutable_material()->mutable_emissive()->set_g(_msg.emissive().g());
+    msg->mutable_material()->mutable_emissive()->set_b(_msg.emissive().b());
+    msg->mutable_material()->mutable_emissive()->set_a(_msg.emissive().a());
+
+    auto cmd = std::make_unique<VisualCommand>(msg, this->iface);
+
+    // Push to pending
+    {
+      std::lock_guard<std::mutex> lock(this->pendingMutex);
+      this->pendingCmds.push_back(std::move(cmd));
+    }
   }
 }
 
@@ -1793,18 +1818,7 @@ bool VisualCommand::Execute()
     // When size > 1, we don't know which entity to modify
     if (entities.size() == 1)
     {
-      auto subentities =
-      this->iface->ecm->ChildrenByComponents(entities[0],
-        components::Name(visualMsg->name()));
-      if (subentities.size() == 1)
-      {
-        visualEntity = subentities[0];
-      }
-      else
-      {
-        visualEntity = entities[0];
-      }
-      gzmsg << "Using visual entity id: " << visualEntity << std::endl;
+      visualEntity = entities[0];
     }
   }
 
diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
index 4b0f456c8f4..23e457274da 100644
--- a/test/integration/user_commands.cc
+++ b/test/integration/user_commands.cc
@@ -1093,8 +1093,7 @@ TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(MaterialColor))
   const std::string materialColorTopic = "/world/material_color/material_color";
 
   msgs::MaterialColor materialColorMsg;
-  materialColorMsg.set_name("box_visual");
-  materialColorMsg.set_parent_name("box_link");
+  materialColorMsg.mutable_entity()->set_name("box::box_link::box_visual");
   gz::msgs::Set(materialColorMsg.mutable_diffuse(),
     gz::math::Color(1.0f, 1.0f, 1.0f, 1.0f));
 
diff --git a/test/worlds/material_color.sdf b/test/worlds/material_color.sdf
deleted file mode 100644
index f9443bdb40d..00000000000
--- a/test/worlds/material_color.sdf
+++ /dev/null
@@ -1,59 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="material_color">
-    <physics name="1ms" type="ode">
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>0</real_time_factor>
-    </physics>
-    <plugin
-      filename="gz-sim-scene-broadcaster-system"
-      name="gz::sim::systems::SceneBroadcaster">
-    </plugin>
-    <plugin
-      filename="gz-sim-user-commands-system"
-      name="gz::sim::systems::UserCommands">
-    </plugin>
-    <plugin
-      filename="gz-sim-sensors-system"
-      name="gz::sim::systems::Sensors">
-      <render_engine>ogre2</render_engine>
-    </plugin>
-    <model name="camera_ball">
-      <pose>0 0.0 0.0 0 0 0</pose>
-      <link name="sphere">
-        <!-- Added a render sensor to trigger RenderUtil:Update -->
-        <sensor name="camera" type="camera">
-          <pose>1 0 1.3 0 0 0</pose>
-          <camera>
-            <horizontal_fov>1.047</horizontal_fov>
-            <image>
-              <width>320</width>
-              <height>240</height>
-            </image>
-            <clip>
-              <near>0.1</near>
-              <far>100</far>
-            </clip>
-          </camera>
-          <always_on>1</always_on>
-          <update_rate>30</update_rate>
-          <visualize>false</visualize>
-          <topic>camera</topic>
-        </sensor>
-        <visual name="sphere">
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-          <material>
-            <ambient>0.3 0.3 0.3 1</ambient>
-            <diffuse>0.3 0.3 0.3 1</diffuse>
-            <specular>0.3 0.3 0.3 1</specular>
-            <emmisive>0.3 0.3 0.3 1</emmisive>
-          </material>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>