Use header instead of name for selecting properties

Signed-off-by: William Lew <[email protected]>
gazebosim · Dec 7, 2021 · 45f878e · 45f878e
1 parent 551142d
commit 45f878e
Showing 1 changed file with 82 additions and 74 deletions.
diff --git a/src/systems/light_controller/LightController.cc b/src/systems/light_controller/LightController.cc
@@ -199,86 +199,94 @@ void LightController::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
 void LightControllerPrivate::LightCallback(
     const ignition::msgs::Light &_msg)
 {
-  if (_msg.name() == "pose")
+  if (_msg.header().data_size() == 0)
   {
-    this->lightData.mutable_pose()->mutable_position()->set_x(
-        _msg.pose().position().x());
-
-    this->lightData.mutable_pose()->mutable_position()->set_y(
-        _msg.pose().position().y());
-
-    this->lightData.mutable_pose()->mutable_position()->set_z(
-        _msg.pose().position().z());
-
-    this->lightData.mutable_pose()->mutable_orientation()->set_x(
-        _msg.pose().orientation().x());
-
-    this->lightData.mutable_pose()->mutable_orientation()->set_y(
-        _msg.pose().orientation().y());
-
-    this->lightData.mutable_pose()->mutable_orientation()->set_z(
-        _msg.pose().orientation().z());
-
-    this->lightData.mutable_pose()->mutable_orientation()->set_w(
-        _msg.pose().orientation().w());
-  }
-  else if (_msg.name() == "diffuse")
-  {
-    this->lightData.mutable_diffuse()->set_r(_msg.diffuse().r());
-    this->lightData.mutable_diffuse()->set_g(_msg.diffuse().g());
-    this->lightData.mutable_diffuse()->set_b(_msg.diffuse().b());
-    this->lightData.mutable_diffuse()->set_a(_msg.diffuse().a());
-  }
-  else if (_msg.name() == "specular")
-  {
-    this->lightData.mutable_specular()->set_r(_msg.specular().r());
-    this->lightData.mutable_specular()->set_g(_msg.specular().g());
-    this->lightData.mutable_specular()->set_b(_msg.specular().b());
-    this->lightData.mutable_specular()->set_a(_msg.specular().a());
-  }
-  else if (_msg.name() == "attenuation_constant")
-  {
-    this->lightData.set_attenuation_constant(_msg.attenuation_constant());
-  }
-  else if (_msg.name() == "attenuation_linear")
-  {
-    this->lightData.set_attenuation_linear(_msg.attenuation_linear());
-  }
-  else if (_msg.name() == "attenuation_quadratic")
-  {
-    this->lightData.set_attenuation_quadratic(_msg.attenuation_quadratic());
-  }
-  else if (_msg.name() == "direction")
-  {
-    this->lightData.mutable_direction()->set_x(_msg.direction().x());
-    this->lightData.mutable_direction()->set_y(_msg.direction().y());
-    this->lightData.mutable_direction()->set_z(_msg.direction().z());
-  }
-  else if (_msg.name() == "range")
-  {
-    this->lightData.set_range(_msg.range());
-  }
-  else if (_msg.name() == "spot_inner_angle")
-  {
-    this->lightData.set_spot_inner_angle(_msg.spot_inner_angle());
-  }
-  else if (_msg.name() == "spot_outer_angle")
-  {
-    this->lightData.set_spot_outer_angle(_msg.spot_outer_angle());
-  }
-  else if (_msg.name() == "spot_falloff")
-  {
-    this->lightData.set_spot_falloff(_msg.spot_falloff());
-  }
-  else if (_msg.name() == "intensity")
-  {
-    this->lightData.set_intensity(_msg.intensity());
+    this->lightData = _msg;
   }
   else
   {
-    this->lightData = _msg;
+    for (int i = 0; i < _msg.header().data_size(); ++i)
+    {
+      if (_msg.header().data(i).value(0) == "pose")
+      {
+        this->lightData.mutable_pose()->mutable_position()->set_x(
+            _msg.pose().position().x());
+
+        this->lightData.mutable_pose()->mutable_position()->set_y(
+            _msg.pose().position().y());
+
+        this->lightData.mutable_pose()->mutable_position()->set_z(
+            _msg.pose().position().z());
+
+        this->lightData.mutable_pose()->mutable_orientation()->set_x(
+            _msg.pose().orientation().x());
+
+        this->lightData.mutable_pose()->mutable_orientation()->set_y(
+            _msg.pose().orientation().y());
+
+        this->lightData.mutable_pose()->mutable_orientation()->set_z(
+            _msg.pose().orientation().z());
+
+        this->lightData.mutable_pose()->mutable_orientation()->set_w(
+            _msg.pose().orientation().w());
+      }
+      else if (_msg.header().data(i).value(0) == "diffuse")
+      {
+        this->lightData.mutable_diffuse()->set_r(_msg.diffuse().r());
+        this->lightData.mutable_diffuse()->set_g(_msg.diffuse().g());
+        this->lightData.mutable_diffuse()->set_b(_msg.diffuse().b());
+        this->lightData.mutable_diffuse()->set_a(_msg.diffuse().a());
+      }
+      else if (_msg.header().data(i).value(0) == "specular")
+      {
+        this->lightData.mutable_specular()->set_r(_msg.specular().r());
+        this->lightData.mutable_specular()->set_g(_msg.specular().g());
+        this->lightData.mutable_specular()->set_b(_msg.specular().b());
+        this->lightData.mutable_specular()->set_a(_msg.specular().a());
+      }
+      else if (_msg.header().data(i).value(0) == "attenuation_constant")
+      {
+        this->lightData.set_attenuation_constant(_msg.attenuation_constant());
+      }
+      else if (_msg.header().data(i).value(0) == "attenuation_linear")
+      {
+        this->lightData.set_attenuation_linear(_msg.attenuation_linear());
+      }
+      else if (_msg.header().data(i).value(0) == "attenuation_quadratic")
+      {
+        this->lightData.set_attenuation_quadratic(_msg.attenuation_quadratic());
+      }
+      else if (_msg.header().data(i).value(0) == "direction")
+      {
+        this->lightData.mutable_direction()->set_x(_msg.direction().x());
+        this->lightData.mutable_direction()->set_y(_msg.direction().y());
+        this->lightData.mutable_direction()->set_z(_msg.direction().z());
+      }
+      else if (_msg.header().data(i).value(0) == "range")
+      {
+        this->lightData.set_range(_msg.range());
+      }
+      else if (_msg.header().data(i).value(0) == "spot_inner_angle")
+      {
+        this->lightData.set_spot_inner_angle(_msg.spot_inner_angle());
+      }
+      else if (_msg.header().data(i).value(0) == "spot_outer_angle")
+      {
+        this->lightData.set_spot_outer_angle(_msg.spot_outer_angle());
+      }
+      else if (_msg.header().data(i).value(0) == "spot_falloff")
+      {
+        this->lightData.set_spot_falloff(_msg.spot_falloff());
+      }
+      else if (_msg.header().data(i).value(0) == "intensity")
+      {
+        this->lightData.set_intensity(_msg.intensity());
+      }
+    }
   }
 
+
+
   this->isUpdateRequired = true;
 }