intends, default case, invalid color

Signed-off-by: Dharini Dutia <[email protected]>

src/SdfEntityCreator.cc

@@ -817,6 +817,11 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
         MaterialParser::MaterialValues parsed =
           this->dataPtr->materialParser.GetMaterialValues(scriptName);
 
+        if(!parsed.ambient.has_value()) {
+          gzwarn << "Material " << scriptName <<
+            " not recognized, using default."<< std::endl;
+        }
+
         visualMaterial.SetAmbient
           (parsed.ambient.value_or(visualMaterial.Ambient()));
         visualMaterial.SetDiffuse

src/rendering/MaterialParser/ConfigLoader.cc

@@ -267,6 +267,9 @@ void ConfigLoader::_parseNodes(std::ifstream & stream, ConfigNode * parent)
       case TOKEN_NewLine:
         _nextToken(stream);
         break;
+
+      default:
+        break;
     }
   }
 }

src/rendering/MaterialParser/ConfigLoader.hh

@@ -90,40 +90,40 @@ public:
 
   inline void setName(const std::string & name)
   {
-  this->m_name = name;
+    this->m_name = name;
   }
 
   inline std::string & getName()
   {
-  return m_name;
+    return m_name;
   }
 
   inline void addValue(const std::string & value)
   {
-  m_values.push_back(value);
+    m_values.push_back(value);
   }
 
   inline void clearValues()
   {
-  m_values.clear();
+    m_values.clear();
   }
 
   inline std::vector<std::string> & getValues()
   {
-  return m_values;
+    return m_values;
   }
 
   inline void getValuesInFloat(std::vector<float> & floatValues)
   {
-  for (const auto & str : m_values) {
-  floatValues.push_back(std::stof(str));
-  }
+    for (const auto & str : m_values) {
+      floatValues.push_back(std::stof(str));
+    }
   }
 
   inline const std::string & getValue(unsigned int index = 0)
   {
-  assert(index < m_values.size());
-  return m_values[index];
+    assert(index < m_values.size());
+    return m_values[index];
   }
 
   ConfigNode * addChild(
@@ -133,20 +133,20 @@ public:
 
   inline std::vector<ConfigNode *> & getChildren()
   {
-  return m_children;
+    return m_children;
   }
 
   inline ConfigNode * getChild(unsigned int index = 0)
   {
-  assert(index < m_children.size());
-  return m_children[index];
+    assert(index < m_children.size());
+    return m_children[index];
   }
 
   void setParent(ConfigNode * newParent);
 
   inline ConfigNode * getParent()
   {
-  return m_parent;
+    return m_parent;
   }
 
 private:

test/integration/material.cc

@@ -106,6 +106,7 @@ class MaterialTest : public InternalFixture<::testing::Test>
   public: std::unique_ptr<SdfEntityCreator> creator;
 };
 
+// Check for blue color parsed
 TEST_F(MaterialTest, SolidColor)
 {
   const std::string modelSdf = R"sdf(
@@ -152,6 +153,7 @@ TEST_F(MaterialTest, SolidColor)
             boxVisualComp->Data().Specular());
 }
 
+// Other than solid colors parsed black by default
 TEST_F(MaterialTest, OtherColor)
 {
   const std::string modelSdf = R"sdf(
@@ -199,6 +201,7 @@ TEST_F(MaterialTest, OtherColor)
             boxVisualComp->Data().Specular());
 }
 
+// Warning for custom scripts not supported, default to black
 TEST_F(MaterialTest, CustomScript)
 {
   const std::string modelSdf = R"sdf(
@@ -245,3 +248,51 @@ TEST_F(MaterialTest, CustomScript)
   EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
             boxVisualComp->Data().Specular());
 }
+
+// Warning for invalid name, default to black
+TEST_F(MaterialTest, InvalidColor)
+{
+  const std::string modelSdf = R"sdf(
+  <sdf version="1.11">
+      <model name="material_shapes">
+        <pose>0 0 0.5 0 0 0</pose>
+        <link name="box">
+        <pose>0 -1.5 0 0 0 0</pose>
+        <visual name="box_visual">
+            <geometry>
+            <box>
+                <size>1 1 1</size>
+            </box>
+            </geometry>
+            <material>
+            <script>
+                <uri>file://media/materials/scripts/gazebo.material</uri>
+                <name>Gazebo/Invalid</name>
+            </script>
+            </material>
+        </visual>
+        </link>
+    </model>
+  </sdf>
+  )sdf";
+
+  ASSERT_TRUE(this->StartServer());
+  this->SpawnModelSDF(modelSdf);
+
+  auto model = this->GetModel("material_shapes");
+  ASSERT_TRUE(model.Valid(*this->ecm));
+
+  auto boxVisualEntity =
+    this->ecm->EntityByComponents(components::Name("box_visual"));
+  ASSERT_NE(kNullEntity, boxVisualEntity);
+
+  // Default to black color
+  auto boxVisualComp =
+    this->ecm->Component<components::Material>(boxVisualEntity);
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
+            boxVisualComp->Data().Ambient());
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
+            boxVisualComp->Data().Diffuse());
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f),
+            boxVisualComp->Data().Specular());
+}