Add UserCommands MaterialColor test.

Signed-off-by: Benjamin Perseghetti <[email protected]>

test/integration/user_commands.cc

@@ -21,6 +21,7 @@
 #include <gz/msgs/entity.pb.h>
 #include <gz/msgs/entity_factory.pb.h>
 #include <gz/msgs/light.pb.h>
+#include <gz/msgs/material_color.pb.h>
 #include <gz/msgs/physics.pb.h>
 #include <gz/msgs/pose.pb.h>
 #include <gz/msgs/pose_v.pb.h>
@@ -1046,6 +1047,73 @@ TEST_F(UserCommandsTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Light))
     spotLightComp->Data().Diffuse());
 }
 
+/////////////////////////////////////////////////
+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");
+  serverConfig.SetSdfFile(sdfFile);
+
+  Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(*server.Running(0));
+
+  // Create a system just to get the ECM
+  EntityComponentManager *ecm{nullptr};
+  test::Relay testSystem;
+  testSystem.OnPreUpdate([&](const sim::UpdateInfo &,
+                             sim::EntityComponentManager &_ecm)
+      {
+        ecm = &_ecm;
+      });
+
+  server.AddSystem(testSystem.systemPtr);
+
+  // Run server and check we have the ECM
+  EXPECT_EQ(nullptr, ecm);
+  server.Run(true, 1, false);
+  EXPECT_NE(nullptr, ecm);
+
+  transport::Node node;
+
+  // Camera Ball
+  auto boxVisualEntity =
+    ecm->EntityByComponents(components::Name("box_visual"));
+  ASSERT_NE(kNullEntity, boxVisualEntity);
+
+  // 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());
+
+  // Test material_color topic
+  const std::string materialColorTopic = "/world/material_color/material_color";
+
+  msgs::MaterialColor materialColorMsg;
+  materialColorMsg.set_name("box_visual");
+  materialColorMsg.set_parent_name("box_link");
+  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);
+
+  server.Run(true, 100, false);
+  // Sleep for a small duration to allow Run thread to start
+  GZ_SLEEP_MS(10);
+
+  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());
+}
+
 /////////////////////////////////////////////////
 TEST_F(UserCommandsTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(Physics))
 {

test/worlds/material_color.sdf

@@ -0,0 +1,59 @@
+<?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>