Use new sky cubemap, instead of header (#2060)

Signed-off-by: Nate Koenig <[email protected]>
gazebosim · Aug 4, 2023 · e68ff3b · e68ff3b
1 parent 9f92360
commit e68ff3b
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Showing 2 changed files with 4 additions and 20 deletions.
diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -35,6 +35,7 @@
 #include <gz/msgs/plugin.pb.h>
 #include <gz/msgs/projector.pb.h>
 #include <gz/msgs/spheregeom.pb.h>
+#include <gz/msgs/sky.pb.h>
 #include <gz/msgs/Utility.hh>
 
 #include <gz/math/Angle.hh>
@@ -794,15 +795,9 @@ msgs::Scene gz::sim::convert(const sdf::Scene &_in)
     skyMsg->set_wind_direction(_in.Sky()->CloudDirection().Radian());
     skyMsg->set_humidity(_in.Sky()->CloudHumidity());
     skyMsg->set_mean_cloud_size(_in.Sky()->CloudMeanSize());
+    skyMsg->set_cubemap_uri(_in.Sky()->CubemapUri());
     msgs::Set(skyMsg->mutable_cloud_ambient(),
         _in.Sky()->CloudAmbient());
-
-    if (!_in.Sky()->CubemapUri().empty())
-    {
-      auto header = skyMsg->mutable_header()->add_data();
-      header->set_key("cubemap_uri");
-      header->add_value(_in.Sky()->CubemapUri());
-    }
   }
 
   return out;
@@ -833,15 +828,7 @@ sdf::Scene gz::sim::convert(const msgs::Scene &_in)
     sky.SetCloudHumidity(_in.sky().humidity());
     sky.SetCloudMeanSize(_in.sky().mean_cloud_size());
     sky.SetCloudAmbient(msgs::Convert(_in.sky().cloud_ambient()));
-
-    for (int i = 0; i < _in.sky().header().data_size(); ++i)
-    {
-      auto data = _in.sky().header().data(i);
-      if (data.key() == "cubemap_uri" && data.value_size() > 0)
-      {
-        sky.SetCubemapUri(data.value(0));
-      }
-    }
+    sky.SetCubemapUri(_in.sky().cubemap_uri());
 
     out.SetSky(sky);
   }

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -733,10 +733,7 @@ TEST(Conversions, Scene)
   EXPECT_DOUBLE_EQ(0.88, sceneSkyMsg.sky().mean_cloud_size());
   EXPECT_EQ(math::Color::Red,
       msgs::Convert(sceneSkyMsg.sky().cloud_ambient()));
-  ASSERT_GT(sceneSkyMsg.sky().header().data_size(), 0);
-  auto header = sceneSkyMsg.sky().header().data(0);
-  EXPECT_EQ("cubemap_uri", header.key());
-  EXPECT_EQ("test.dds", header.value(0));
+  EXPECT_EQ("test.dds", sceneSkyMsg.sky().cubemap_uri());
 
   auto newSceneSky = convert<sdf::Scene>(sceneSkyMsg);
   ASSERT_NE(nullptr, newSceneSky.Sky());