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Merged in issue_2441 (pull request #2933)
Backport pull request #2890 to gazebo7 (issue #2441) Approved-by: Steven Peters <scpeters@osrfoundation.org> Approved-by: Ian Chen <ichen@osrfoundation.org>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,110 @@ | ||
| /* | ||
| * Copyright (C) 2018 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #include <unistd.h> | ||
| #include <gazebo/util/LogRecord.hh> | ||
| #include <gazebo/util/LogPlay.hh> | ||
| #include <gazebo/test/ServerFixture.hh> | ||
|
|
||
| using namespace gazebo; | ||
|
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| class Issue2297_Test : public ServerFixture | ||
| { | ||
| }; | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| TEST_F(Issue2297_Test, ModelInsertRecord) | ||
| { | ||
| // Create a temporary directory | ||
| char dirTemplate[] ="/tmp/gazeboXXXXXX"; | ||
| std::string tmpDir = mkdtemp(dirTemplate); | ||
|
|
||
| // Initialize log recording | ||
| util::LogRecord *recorder = util::LogRecord::Instance(); | ||
| ASSERT_TRUE(recorder != nullptr); | ||
| recorder->Init("test"); | ||
|
|
||
| // Start gazebo paused. | ||
| this->Load("worlds/empty.world", true); | ||
|
|
||
| // Get a pointer to the world | ||
| physics::WorldPtr world = physics::get_world("default"); | ||
| ASSERT_TRUE(world != nullptr); | ||
|
|
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| recorder->Start("txt", tmpDir); | ||
| std::string filename = recorder->Filename(); | ||
|
|
||
| std::string modelString = | ||
| "<sdf version='1.6'>" | ||
| " <model name='box'>" | ||
| " <pose>0 0 10 0 0 0</pose>" | ||
| " <link name='link'>" | ||
| " <collision name='collision'>" | ||
| " <geometry><box><size>1 1 1</size></box></geometry>" | ||
| " </collision>" | ||
| " <visual name='visual'>" | ||
| " <geometry><box><size>1 1 1</size></box></geometry>" | ||
| " </visual>" | ||
| " </link>" | ||
| " </model>" | ||
| "</sdf>"; | ||
|
|
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| world->InsertModelString(modelString); | ||
|
|
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| // Step the world enough iterations to guarantee that the <insertions> is | ||
| // recorded in the log file. | ||
| world->Step(200); | ||
|
|
||
| // Stop recording | ||
| recorder->Stop(); | ||
| recorder->Fini(); | ||
|
|
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| // Open the log file | ||
| util::LogPlay *player = util::LogPlay::Instance(); | ||
| player->Open(filename); | ||
|
|
||
| // The first step should be the initial world configuration | ||
| std::string data; | ||
| player->Step(data); | ||
| EXPECT_NE(data.find("<world name='default'>"), std::string::npos); | ||
| EXPECT_EQ(data.find("<insertions>"), std::string::npos); | ||
|
|
||
| int count = 0; | ||
| // The insertions should come after the first step | ||
| while (player->Step(data)) | ||
| { | ||
| size_t boxPos = data.find("<insertions><model name='box'>"); | ||
| while (boxPos != std::string::npos) | ||
| { | ||
| count++; | ||
| boxPos = data.find("<insertions><model name='box'>", boxPos + 1); | ||
| } | ||
| } | ||
| EXPECT_EQ(1, count) << "There were multiple insertions\n"; | ||
|
|
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| // Cleanup the directory | ||
| remove(filename.c_str()); | ||
| rmdir(tmpDir.c_str()); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| // Main | ||
| int main(int argc, char **argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| /* | ||
| * Copyright (C) 2018 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #include <unistd.h> | ||
| #include <gazebo/util/LogRecord.hh> | ||
| #include <gazebo/util/LogPlay.hh> | ||
| #include <gazebo/test/ServerFixture.hh> | ||
|
|
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| using namespace gazebo; | ||
|
|
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| class Issue2428_Test : public ServerFixture | ||
| { | ||
| }; | ||
|
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| ///////////////////////////////////////////////// | ||
| // This test checks that the following steps work: | ||
| // | ||
| // 1. run Gazebo | ||
| // 2. Insert some models, at least one of them should move | ||
| // 3. Record a log | ||
| // 4. Stop record | ||
| // 5. The log file should have the inserted model inside the | ||
| // <world>...</world> block. | ||
| TEST_F(Issue2428_Test, InsertionBeforeRecording) | ||
| { | ||
| // Create a temporary directory | ||
| char dirTemplate[] ="/tmp/gazeboXXXXXX"; | ||
| std::string tmpDir = mkdtemp(dirTemplate); | ||
|
|
||
| util::LogRecord *recorder = util::LogRecord::Instance(); | ||
| recorder->Init("test"); | ||
|
|
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| // Playback the state log | ||
| this->Load("worlds/empty.world", true); | ||
|
|
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| // Get a pointer to the world | ||
| physics::WorldPtr world = physics::get_world("default"); | ||
| ASSERT_TRUE(world != nullptr); | ||
|
|
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| // take some steps before inserting model to avoid issue #2297 | ||
| world->Step(100); | ||
|
|
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| std::string modelString = | ||
| "<sdf version='1.6'>" | ||
| " <model name='box'>" | ||
| " <pose>0 0 10 0 0 0</pose>" | ||
| " <link name='link'>" | ||
| " <collision name='collision'>" | ||
| " <geometry><box><size>1 1 1</size></box></geometry>" | ||
| " </collision>" | ||
| " <visual name='visual'>" | ||
| " <geometry><box><size>1 1 1</size></box></geometry>" | ||
| " </visual>" | ||
| " </link>" | ||
| " </model>" | ||
| "</sdf>"; | ||
|
|
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| // Insert a model before recording starts | ||
| world->InsertModelString(modelString); | ||
| world->Step(100); | ||
|
|
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| recorder->Start("txt", tmpDir); | ||
|
|
||
| // Step the world enough iterations to guarantee that the <insertions> is | ||
| // recorded in the log file. | ||
| world->Step(200); | ||
|
|
||
| std::string filename = recorder->Filename(); | ||
|
|
||
| // Stop recording | ||
| recorder->Stop(); | ||
| recorder->Fini(); | ||
|
|
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| // Open the log file | ||
| util::LogPlay *player = util::LogPlay::Instance(); | ||
| player->Open(filename); | ||
|
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| std::string data; | ||
| player->Step(data); | ||
| size_t worldStart = data.find("<world name='default'>"); | ||
| size_t boxPos = data.find("<model name='box'>"); | ||
| size_t worldEnd = data.find("</world>"); | ||
|
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| // The box model should exist in the initial world. | ||
| EXPECT_LT(worldStart, boxPos); | ||
| EXPECT_GT(worldEnd, boxPos); | ||
| EXPECT_NE(boxPos, std::string::npos); | ||
|
|
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| // Cleanup the directory | ||
| remove(filename.c_str()); | ||
| rmdir(tmpDir.c_str()); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| // Main | ||
| int main(int argc, char **argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
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