add conversion for particle scatter ratio field

src/Conversions.cc

@@ -1334,7 +1334,7 @@ msgs::ParticleEmitter ignition::gazebo::convert(const sdf::ParticleEmitter &_in)
 {
   msgs::ParticleEmitter out;
   out.set_name(_in.Name());
-  switch(_in.Type())
+  switch (_in.Type())
   {
     default:
     case sdf::ParticleEmitterType::POINT:
@@ -1390,6 +1390,13 @@ msgs::ParticleEmitter ignition::gazebo::convert(const sdf::ParticleEmitter &_in)
     header->add_value(_in.Topic());
   }
 
+  // todo(anyone) Use particle_scatter_ratio in particle_emitter.proto from
+  // Fortress on.
+  auto header = out.mutable_header()->add_data();
+  header->set_key("particle_scatter_ratio");
+  std::string *value = header->add_value();
+  *value = std::to_string(_in.ScatterRatio());
+
   return out;
 }
 
@@ -1400,7 +1407,7 @@ sdf::ParticleEmitter ignition::gazebo::convert(const msgs::ParticleEmitter &_in)
 {
   sdf::ParticleEmitter out;
   out.SetName(_in.name());
-  switch(_in.type())
+  switch (_in.type())
   {
     default:
     case msgs::ParticleEmitter::POINT:
@@ -1449,6 +1456,10 @@ sdf::ParticleEmitter ignition::gazebo::convert(const msgs::ParticleEmitter &_in)
     {
       out.SetTopic(data.value(0));
     }
+    else if (data.key() == "particle_scatter_ratio" && data.value_size() > 0)
+    {
+      out.SetScatterRatio(std::stof(data.value(0)));
+    }
   }
 
   return out;

src/Conversions_TEST.cc

@@ -794,6 +794,7 @@ TEST(Conversions, ParticleEmitter)
   emitter.SetColorRangeImage("range_image");
   emitter.SetTopic("my_topic");
   emitter.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0));
+  emitter.SetScatterRatio(0.9f);
 
   sdf::Material material;
   sdf::Pbr pbr;
@@ -828,6 +829,10 @@ TEST(Conversions, ParticleEmitter)
   EXPECT_EQ("topic", header.key());
   EXPECT_EQ("my_topic", header.value(0));
 
+  auto headerScatterRatio = emitterMsg.header().data(1);
+  EXPECT_EQ("particle_scatter_ratio", headerScatterRatio.key());
+  EXPECT_FLOAT_EQ(0.9f, std::stof(headerScatterRatio.value(0)));
+
   EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), msgs::Convert(emitterMsg.pose()));
 
   auto pbrMsg = emitterMsg.material().pbr();
@@ -852,4 +857,5 @@ TEST(Conversions, ParticleEmitter)
   EXPECT_EQ(emitter2.ColorRangeImage(), emitter.ColorRangeImage());
   EXPECT_EQ(emitter2.Topic(), emitter.Topic());
   EXPECT_EQ(emitter2.RawPose(), emitter.RawPose());
+  EXPECT_FLOAT_EQ(emitter2.ScatterRatio(), emitter.ScatterRatio());
 }

src/systems/particle_emitter2/ParticleEmitter2.cc

@@ -242,7 +242,6 @@ void ParticleEmitter2::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
           components::ParticleEmitterCmd::typeId,
           ComponentState::OneTimeChange);
     }
-
   }
   this->dataPtr->userCmd.clear();
 }

test/integration/particle_emitter2.cc

@@ -83,7 +83,6 @@ TEST_F(ParticleEmitter2Test, SDFLoad)
                 const components::Name *_name,
                 const components::Pose *_pose) -> bool
             {
-
               if (_name->Data() == "smoke_emitter")
               {
                 updateCustomChecked = true;
@@ -118,6 +117,24 @@ TEST_F(ParticleEmitter2Test, SDFLoad)
                 // will not be able to find a file that does not exist
                 EXPECT_EQ("/path/to/dummy_image.png",
                     _emitter->Data().color_range_image().data());
+
+                // particle scatter ratio is temporarily stored in header
+                bool hasParticleScatterRatio = false;
+                for (int i = 0; i < _emitter->Data().header().data_size(); ++i)
+                {
+                  for (int j = 0;
+                      j < _emitter->Data().header().data(i).value_size(); ++j)
+                  {
+                    if (_emitter->Data().header().data(i).key() ==
+                        "particle_scatter_ratio")
+                    {
+                      EXPECT_DOUBLE_EQ(0.01, math::parseFloat(
+                          _emitter->Data().header().data(i).value(0)));
+                      hasParticleScatterRatio = true;
+                    }
+                  }
+                }
+                EXPECT_TRUE(hasParticleScatterRatio);
               }
               else
               {

test/integration/thermal_sensor_system.cc

@@ -151,7 +151,7 @@ TEST_F(ThermalSensorTest,
   // Run server
   server.Run(true, 1, false);
 
- // verify camera properties from sdf
+  // verify camera properties from sdf
   unsigned int width = 320u;
   unsigned int height = 240u;
   EXPECT_EQ("thermal_camera_invalid", name);

test/integration/thermal_system.cc

@@ -224,7 +224,6 @@ TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(ThermalSensorSystem))
             maxTemp = info.max.Kelvin();
             return true;
           });
-
     });
   server.AddSystem(testSystem.systemPtr);
 

test/worlds/particle_emitter2.sdf

@@ -121,6 +121,7 @@
           <color_end>0 1 0</color_end>
           <scale_rate>10</scale_rate>
           <color_range_image>/path/to/dummy_image.png</color_range_image>
+          <particle_scatter_ratio>0.01</particle_scatter_ratio>
         </particle_emitter>
       </link>