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| /* | ||
| * Copyright (C) 2020 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. | ||
| * | ||
| */ | ||
| #ifndef IGNITION_GAZEBO_TEST_HELPERS_ENVTESTFIXTURE_HH_ | ||
| #define IGNITION_GAZEBO_TEST_HELPERS_ENVTESTFIXTURE_HH_ | ||
|
|
||
| #include <gtest/gtest.h> | ||
|
|
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| #include <ignition/common/Console.hh> | ||
| #include "ignition/gazebo/test_config.hh" | ||
|
|
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| class ServerFixture : public ::testing::TestWithParam<int> | ||
| { | ||
| protected: void SetUp() override | ||
| { | ||
| // Augment the system plugin path. In SetUp to avoid test order issues. | ||
| setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", | ||
| (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); | ||
|
|
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| ignition::common::Console::SetVerbosity(4); | ||
| } | ||
| }; | ||
| #endif |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,57 @@ | ||
| /* | ||
| * 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 <gtest/gtest.h> | ||
|
|
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| #include "ignition/gazebo/Server.hh" | ||
| #include "ignition/gazebo/ServerConfig.hh" | ||
|
|
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| #include "../test/helpers/EnvTestFixture.hh" | ||
|
|
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| using namespace ignition; | ||
| using namespace ignition::gazebo; | ||
| using namespace std::chrono_literals; | ||
|
|
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| ///////////////////////////////////////////////// | ||
| TEST_P(ServerFixture, CachedFuelWorld) | ||
| { | ||
| auto cachedWorldPath = | ||
| common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds"); | ||
| setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1); | ||
|
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| ServerConfig serverConfig; | ||
| auto fuelWorldURL = | ||
| "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world"; | ||
| EXPECT_TRUE(serverConfig.SetSdfFile(fuelWorldURL)); | ||
|
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| EXPECT_EQ(fuelWorldURL, serverConfig.SdfFile()); | ||
| EXPECT_TRUE(serverConfig.SdfString().empty()); | ||
|
|
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| // Check that world was loaded | ||
| auto server = Server(serverConfig); | ||
| EXPECT_NE(std::nullopt, server.Running(0)); | ||
| EXPECT_FALSE(*server.Running(0)); | ||
|
|
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| server.Run(true /*blocking*/, 1, false/*paused*/); | ||
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| EXPECT_NE(std::nullopt, server.Running(0)); | ||
| EXPECT_FALSE(*server.Running(0)); | ||
| } | ||
|
|
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| // Run multiple times. We want to make sure that static globals don't cause | ||
| // problems. | ||
| INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2)); |
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| /* | ||
| * 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 <gtest/gtest.h> | ||
|
|
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| #include "ignition/gazebo/Server.hh" | ||
| #include "ignition/gazebo/ServerConfig.hh" | ||
|
|
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| #include "../test/helpers/EnvTestFixture.hh" | ||
|
|
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| using namespace ignition; | ||
| using namespace ignition::gazebo; | ||
| using namespace std::chrono_literals; | ||
|
|
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| ///////////////////////////////////////////////// | ||
| TEST_P(ServerFixture, TwoServersNonBlocking) | ||
| { | ||
| ignition::gazebo::ServerConfig serverConfig; | ||
| serverConfig.SetSdfString(TestWorldSansPhysics::World()); | ||
|
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| gazebo::Server server1(serverConfig); | ||
| gazebo::Server server2(serverConfig); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| EXPECT_EQ(0u, *server1.IterationCount()); | ||
| EXPECT_EQ(0u, *server2.IterationCount()); | ||
|
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| // Make the servers run fast. | ||
| server1.SetUpdatePeriod(1ns); | ||
| server2.SetUpdatePeriod(1ns); | ||
|
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| // Start non-blocking | ||
| const size_t iters1 = 9999; | ||
| EXPECT_TRUE(server1.Run(false, iters1, false)); | ||
|
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| // Expect that we can't start another instance. | ||
| EXPECT_FALSE(server1.Run(true, 10, false)); | ||
|
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| // It's okay to start another server | ||
| EXPECT_TRUE(server2.Run(false, 500, false)); | ||
|
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| while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500) | ||
| IGN_SLEEP_MS(100); | ||
|
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| EXPECT_EQ(iters1, *server1.IterationCount()); | ||
| EXPECT_EQ(500u, *server2.IterationCount()); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| } | ||
|
|
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| ///////////////////////////////////////////////// | ||
| TEST_P(ServerFixture, TwoServersMixedBlocking) | ||
| { | ||
| ignition::gazebo::ServerConfig serverConfig; | ||
| serverConfig.SetSdfString(TestWorldSansPhysics::World()); | ||
|
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| gazebo::Server server1(serverConfig); | ||
| gazebo::Server server2(serverConfig); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| EXPECT_EQ(0u, *server1.IterationCount()); | ||
| EXPECT_EQ(0u, *server2.IterationCount()); | ||
|
|
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| // Make the servers run fast. | ||
| server1.SetUpdatePeriod(1ns); | ||
| server2.SetUpdatePeriod(1ns); | ||
|
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| server1.Run(false, 10, false); | ||
| server2.Run(true, 1000, false); | ||
|
|
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| while (*server1.IterationCount() < 10) | ||
| IGN_SLEEP_MS(100); | ||
|
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| EXPECT_EQ(10u, *server1.IterationCount()); | ||
| EXPECT_EQ(1000u, *server2.IterationCount()); | ||
| EXPECT_FALSE(server1.Running()); | ||
| EXPECT_FALSE(*server1.Running(0)); | ||
| EXPECT_FALSE(server2.Running()); | ||
| EXPECT_FALSE(*server2.Running(0)); | ||
| } | ||
|
|
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| // Run multiple times. We want to make sure that static globals don't cause | ||
| // problems. | ||
| INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2)); |