From 4df3989cbd04dd1d6f6f8846bc94674acaa5db6a Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Fri, 19 Jan 2024 09:24:28 -0500
Subject: [PATCH] MaterialColor test world.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 test/integration/user_commands.cc | 40 ++++++++--------
 test/worlds/material_color.sdf    | 76 +++++++++++++++++++++++++++++++
 2 files changed, 98 insertions(+), 18 deletions(-)
 create mode 100644 test/worlds/material_color.sdf

diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc
index 23e457274da..b3e6a8c8367 100644
--- a/test/integration/user_commands.cc
+++ b/test/integration/user_commands.cc
@@ -1053,7 +1053,7 @@ TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(MaterialColor))
   // Start server
   ServerConfig serverConfig;
   const auto sdfFile = gz::common::joinPaths(
-    std::string(PROJECT_SOURCE_PATH), "test", "worlds", "shapes.sdf");
+    std::string(PROJECT_SOURCE_PATH), "test", "worlds", "material_color.sdf");
   serverConfig.SetSdfFile(sdfFile);
 
   Server server(serverConfig);
@@ -1078,39 +1078,43 @@ TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(MaterialColor))
 
   transport::Node node;
 
-  // Camera Ball
-  auto boxVisualEntity =
-    ecm->EntityByComponents(components::Name("box_visual"));
-  ASSERT_NE(kNullEntity, boxVisualEntity);
+  // box
+  auto sphereVisualEntity =
+    ecm->EntityByComponents(components::Name("sphere_visual"));
+  ASSERT_NE(kNullEntity, sphereVisualEntity);
 
   // check box visual's initial values
-  auto boxVisualComp = ecm->Component<components::Material>(boxVisualEntity);
-  ASSERT_NE(nullptr, boxVisualComp);
-  EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1.0f),
-            boxVisualComp->Data().Diffuse());
+  auto sphereVisualComp =
+    ecm->Component<components::Material>(sphereVisualEntity);
+  ASSERT_NE(nullptr, sphereVisualComp);
+  EXPECT_EQ(math::Color(0.3f, 0.3f, 0.3f, 1.0f),
+            sphereVisualComp->Data().Diffuse());
 
   // Test material_color topic
-  const std::string materialColorTopic = "/world/material_color/material_color";
+  const std::string materialColorTopic =
+    "/world/material_color/material_color";
 
   msgs::MaterialColor materialColorMsg;
-  materialColorMsg.mutable_entity()->set_name("box::box_link::box_visual");
+  materialColorMsg.mutable_entity()->set_name("sphere_visual");
+  materialColorMsg.set_entity_match(
+    gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_ALL);
   gz::msgs::Set(materialColorMsg.mutable_diffuse(),
     gz::math::Color(1.0f, 1.0f, 1.0f, 1.0f));
 
   // Publish material color
   auto pub = node.Advertise<msgs::MaterialColor>(materialColorTopic);
   pub.Publish(materialColorMsg);
+  GZ_SLEEP_MS(100);
+  pub.Publish(materialColorMsg);
 
   server.Run(true, 100, false);
   // Sleep for a small duration to allow Run thread to start
-  GZ_SLEEP_MS(10);
+  GZ_SLEEP_MS(100);
 
-  auto boxVisCmdComp = ecm->Component<components::VisualCmd>(boxVisualEntity);
-  ASSERT_NE(nullptr, boxVisualComp);
-  EXPECT_FLOAT_EQ(0.0f, boxVisCmdComp->Data().material().diffuse().r());
-  EXPECT_FLOAT_EQ(0.0f, boxVisCmdComp->Data().material().diffuse().g());
-  EXPECT_FLOAT_EQ(1.0f, boxVisCmdComp->Data().material().diffuse().b());
-  EXPECT_FLOAT_EQ(1.0f, boxVisCmdComp->Data().material().diffuse().a());
+  auto updatedVisual =
+    ecm->Component<components::Material>(sphereVisualEntity);
+  EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f),
+            updatedVisual->Data().Diffuse());
 }
 
 /////////////////////////////////////////////////
diff --git a/test/worlds/material_color.sdf b/test/worlds/material_color.sdf
new file mode 100644
index 00000000000..3a430ae8063
--- /dev/null
+++ b/test/worlds/material_color.sdf
@@ -0,0 +1,76 @@
+<?xml version="1.0" ?>
+<sdf version="1.10">
+  <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="sphere">
+      <pose>0 0.0 0.0 0 0 0</pose>
+      <link name="sphere_link">
+        <!-- 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_visual">
+          <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>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <model name="sphere_1">
+      <pose>0.5 1.0 0.0 0 0 0</pose>
+      <link name="sphere_link">
+        <visual name="sphere_visual">
+          <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>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>