👩‍🌾 Refactor UNIT_Server_TEST: move tests to integration

src/Server_TEST.cc

@@ -18,7 +18,6 @@
 #include <gtest/gtest.h>
 #include <csignal>
 #include <vector>
-#include <ignition/common/Console.hh>
 #include <ignition/common/StringUtils.hh>
 #include <ignition/common/Util.hh>
 #include <ignition/math/Rand.hh>
@@ -39,23 +38,12 @@
 
 #include "plugins/MockSystem.hh"
 #include "../test/helpers/Relay.hh"
+#include "../test/helpers/EnvTestFixture.hh"
 
 using namespace ignition;
 using namespace ignition::gazebo;
 using namespace std::chrono_literals;
 
-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);
-
-    ignition::common::Console::SetVerbosity(4);
-  }
-};
-
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, DefaultServerConfig)
 {
@@ -624,79 +612,6 @@ TEST_P(ServerFixture, SigInt)
   EXPECT_FALSE(*server.Running(0));
 }
 
-/////////////////////////////////////////////////
-TEST_P(ServerFixture, TwoServersNonBlocking)
-{
-  ignition::gazebo::ServerConfig serverConfig;
-  serverConfig.SetSdfString(TestWorldSansPhysics::World());
-
-  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());
-
-  // Make the servers run fast.
-  server1.SetUpdatePeriod(1ns);
-  server2.SetUpdatePeriod(1ns);
-
-  // Start non-blocking
-  const size_t iters1 = 9999;
-  EXPECT_TRUE(server1.Run(false, iters1, false));
-
-  // Expect that we can't start another instance.
-  EXPECT_FALSE(server1.Run(true, 10, false));
-
-  // It's okay to start another server
-  EXPECT_TRUE(server2.Run(false, 500, false));
-
-  while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500)
-    IGN_SLEEP_MS(100);
-
-  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));
-}
-
-/////////////////////////////////////////////////
-TEST_P(ServerFixture, TwoServersMixedBlocking)
-{
-  ignition::gazebo::ServerConfig serverConfig;
-  serverConfig.SetSdfString(TestWorldSansPhysics::World());
-
-  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());
-
-  // Make the servers run fast.
-  server1.SetUpdatePeriod(1ns);
-  server2.SetUpdatePeriod(1ns);
-
-  server1.Run(false, 10, false);
-  server2.Run(true, 1000, false);
-
-  while (*server1.IterationCount() < 10)
-    IGN_SLEEP_MS(100);
-
-  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));
-}
-
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, AddSystemWhileRunning)
 {
@@ -902,32 +817,6 @@ TEST_P(ServerFixture, GetResourcePaths)
   EXPECT_EQ("/home/user/another_path", res.data(1));
 }
 
-/////////////////////////////////////////////////
-TEST_P(ServerFixture, CachedFuelWorld)
-{
-  auto cachedWorldPath =
-    common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds");
-  setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1);
-
-  ServerConfig serverConfig;
-  auto fuelWorldURL =
-    "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world";
-  EXPECT_TRUE(serverConfig.SetSdfFile(fuelWorldURL));
-
-  EXPECT_EQ(fuelWorldURL, serverConfig.SdfFile());
-  EXPECT_TRUE(serverConfig.SdfString().empty());
-
-  // Check that world was loaded
-  auto server = Server(serverConfig);
-  EXPECT_NE(std::nullopt, server.Running(0));
-  EXPECT_FALSE(*server.Running(0));
-
-  server.Run(true /*blocking*/, 1, false/*paused*/);
-
-  EXPECT_NE(std::nullopt, server.Running(0));
-  EXPECT_FALSE(*server.Running(0));
-}
-
 /////////////////////////////////////////////////
 TEST_P(ServerFixture, AddResourcePaths)
 {

test/helpers/EnvTestFixture.hh

@@ -0,0 +1,36 @@
+/*
+ * 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>
+
+#include <ignition/common/Console.hh>
+#include "ignition/gazebo/test_config.hh"
+
+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);
+
+    ignition::common::Console::SetVerbosity(4);
+  }
+};
+#endif

test/integration/CMakeLists.txt

@@ -17,6 +17,7 @@ set(tests
   events.cc
   examples_build.cc
   follow_actor_system.cc
+  fuel_cached_server.cc
   imu_system.cc
   joint_controller_system.cc
   joint_position_controller_system.cc
@@ -31,6 +32,7 @@ set(tests
   magnetometer_system.cc
   model.cc
   multicopter.cc
+  multiple_servers.cc
   network_handshake.cc
   performer_detector.cc
   physics_system.cc

test/integration/fuel_cached_server.cc

@@ -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>
+
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/ServerConfig.hh"
+
+#include "../test/helpers/EnvTestFixture.hh"
+
+using namespace ignition;
+using namespace ignition::gazebo;
+using namespace std::chrono_literals;
+
+/////////////////////////////////////////////////
+TEST_P(ServerFixture, CachedFuelWorld)
+{
+  auto cachedWorldPath =
+    common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds");
+  setenv("IGN_FUEL_CACHE_PATH", cachedWorldPath.c_str(), 1);
+
+  ServerConfig serverConfig;
+  auto fuelWorldURL =
+    "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world";
+  EXPECT_TRUE(serverConfig.SetSdfFile(fuelWorldURL));
+
+  EXPECT_EQ(fuelWorldURL, serverConfig.SdfFile());
+  EXPECT_TRUE(serverConfig.SdfString().empty());
+
+  // Check that world was loaded
+  auto server = Server(serverConfig);
+  EXPECT_NE(std::nullopt, server.Running(0));
+  EXPECT_FALSE(*server.Running(0));
+
+  server.Run(true /*blocking*/, 1, false/*paused*/);
+
+  EXPECT_NE(std::nullopt, server.Running(0));
+  EXPECT_FALSE(*server.Running(0));
+}
+
+// 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));

test/integration/multiple_servers.cc

@@ -0,0 +1,104 @@
+/*
+ * 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>
+
+#include "ignition/gazebo/Server.hh"
+#include "ignition/gazebo/ServerConfig.hh"
+
+#include "../test/helpers/EnvTestFixture.hh"
+
+using namespace ignition;
+using namespace ignition::gazebo;
+using namespace std::chrono_literals;
+
+/////////////////////////////////////////////////
+TEST_P(ServerFixture, TwoServersNonBlocking)
+{
+  ignition::gazebo::ServerConfig serverConfig;
+  serverConfig.SetSdfString(TestWorldSansPhysics::World());
+
+  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());
+
+  // Make the servers run fast.
+  server1.SetUpdatePeriod(1ns);
+  server2.SetUpdatePeriod(1ns);
+
+  // Start non-blocking
+  const size_t iters1 = 9999;
+  EXPECT_TRUE(server1.Run(false, iters1, false));
+
+  // Expect that we can't start another instance.
+  EXPECT_FALSE(server1.Run(true, 10, false));
+
+  // It's okay to start another server
+  EXPECT_TRUE(server2.Run(false, 500, false));
+
+  while (*server1.IterationCount() < iters1 || *server2.IterationCount() < 500)
+    IGN_SLEEP_MS(100);
+
+  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));
+}
+
+/////////////////////////////////////////////////
+TEST_P(ServerFixture, TwoServersMixedBlocking)
+{
+  ignition::gazebo::ServerConfig serverConfig;
+  serverConfig.SetSdfString(TestWorldSansPhysics::World());
+
+  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());
+
+  // Make the servers run fast.
+  server1.SetUpdatePeriod(1ns);
+  server2.SetUpdatePeriod(1ns);
+
+  server1.Run(false, 10, false);
+  server2.Run(true, 1000, false);
+
+  while (*server1.IterationCount() < 10)
+    IGN_SLEEP_MS(100);
+
+  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));
+}
+
+// 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));