Support particle_emitters in the websocket server (#104)

* Support particle_emitters in the websocket server Signed-off-by: Nate Koenig <nate@openrobotics.org> * update documentation Signed-off-by: Nate Koenig <nate@openrobotics.org> * Spelling Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
gazebosim · Apr 12, 2021 · 9201695 · 9201695
1 parent 88c2355
commit 9201695
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Showing 2 changed files with 36 additions and 4 deletions.
diff --git a/plugins/websocket_server/WebsocketServer.cc b/plugins/websocket_server/WebsocketServer.cc
@@ -779,6 +779,37 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg)
     this->QueueMessage(this->connections[_socketId].get(),
         data.c_str(), data.length());
   }
+  /// \todo(nkoeng) Deprecate this in Ignition Fortress, and instruct users
+  /// to rely on the "scene" message.
+  else if (frameParts[0] == "particle_emitters")
+  {
+    igndbg << "Particle emitter request received for world["
+      << frameParts[1] << "]\n";
+    ignition::msgs::Empty req;
+    req.set_unused(true);
+
+    ignition::msgs::ParticleEmitter_V rep;
+    bool result;
+    unsigned int timeout = 2000;
+
+    std::string serviceName = std::string("/world/") + frameParts[1] +
+      "/particle_emitters";
+
+    bool executed = this->node.Request(serviceName, req, timeout, rep, result);
+    if (!executed || !result)
+    {
+      ignerr << "Failed to get the particle emitter information for "
+        << frameParts[1] << " world.\n";
+    }
+
+    std::string data = BUILD_MSG(this->operations[PUBLISH], frameParts[0],
+        std::string("ignition.msgs.ParticleEmitter_V"),
+        rep.SerializeAsString());
+
+    // Queue the message for delivery.
+    this->QueueMessage(this->connections[_socketId].get(),
+        data.c_str(), data.length());
+  }
   else if (frameParts[0] == "sub")
   {
     // Store the relation of socketId to subscribed topic.

diff --git a/plugins/websocket_server/WebsocketServer.hh b/plugins/websocket_server/WebsocketServer.hh
@@ -86,10 +86,11 @@ namespace ignition
     ///     2. "pub": Publish a message from the Ignition Transport topic in
     ///               the `topic_name` component,
     ///     3. "topics": Get the list of available topics,
-    ///     3. "topics-types": Get the list of available topics and their
-    ///                        message types, and
-    ///     4. "protos": Get a string containing all the protobuf
-    ///                  definitions.
+    ///     4. "topics-types": Get the list of available topics and their
+    ///                        message types,
+    ///     5. "protos": Get a string containing all the protobuf
+    ///                  definitions, and
+    ///     6. "particle_emitters": Get the list of particle emitters.
     ///
     /// The `topic_name` component is mandatory for the "sub" and "pub"
     /// operations. If present, it must be the name of an Ignition Transport