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👩‍🌾 Make thermal sensor test more robust #994

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merged 2 commits into from
Aug 30, 2021
Merged

👩‍🌾 Make thermal sensor test more robust #994

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3f20d2b
👩‍🌾 Make thermal sensor test more robust
chapulina Aug 25, 2021
dd8fe02
Don't create light visuals for backend
chapulina Aug 25, 2021
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25 changes: 15 additions & 10 deletions src/rendering/RenderUtil.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -722,18 +722,23 @@ void RenderUtil::Update()
this->dataPtr->sceneManager.CreateLight(
std::get<0>(light), std::get<1>(light), std::get<2>(light));

// create a new id for the light visual
auto attempts = 100000u;
for (auto i = 0u; i < attempts; ++i)
// TODO(anyone) This needs to be updated for when sensors and GUI use
// the same scene
// create a new id for the light visual, if we're not loading sensors
if (!this->dataPtr->enableSensors)
{
Entity id = std::numeric_limits<uint64_t>::min() + i;
if (!this->dataPtr->sceneManager.HasEntity(id))
auto attempts = 100000u;
for (auto i = 0u; i < attempts; ++i)
{
rendering::VisualPtr lightVisual =
this->dataPtr->sceneManager.CreateLightVisual(
id, std::get<1>(light), std::get<0>(light));
this->dataPtr->matchLightWithVisuals[std::get<0>(light)] = id;
break;
Entity id = std::numeric_limits<uint64_t>::min() + i;
if (!this->dataPtr->sceneManager.HasEntity(id))
{
rendering::VisualPtr lightVisual =
this->dataPtr->sceneManager.CreateLightVisual(
id, std::get<1>(light), std::get<0>(light));
this->dataPtr->matchLightWithVisuals[std::get<0>(light)] = id;
break;
}
}
}
}
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26 changes: 15 additions & 11 deletions test/integration/thermal_sensor_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,11 @@ void thermalCb(const msgs::Image &_msg)
std::lock_guard<std::mutex> g_lock(g_mutex);
g_imageMsgs.push_back(_msg);

EXPECT_EQ(320u, _msg.width());
EXPECT_EQ(240u, _msg.height());
EXPECT_EQ(320u, _msg.step());
EXPECT_EQ(msgs::PixelFormatType::L_INT8, _msg.pixel_format_type());

unsigned int width = _msg.width();
unsigned int height = _msg.height();
unsigned int size = width * height * sizeof(unsigned char);
Expand Down Expand Up @@ -174,9 +179,9 @@ TEST_F(ThermalSensorTest,
const std::string cylinderVisual = "cylinder_visual";
const std::string boxVisual = "box_visual";
EXPECT_EQ(3u, entityTemp.size());
ASSERT_TRUE(entityTemp.find(sphereVisual) != entityTemp.end());
ASSERT_TRUE(entityTemp.find(cylinderVisual) != entityTemp.end());
ASSERT_TRUE(entityTemp.find(boxVisual) != entityTemp.end());
ASSERT_NE(entityTemp.find(sphereVisual), entityTemp.end());
ASSERT_NE(entityTemp.find(cylinderVisual), entityTemp.end());
ASSERT_NE(entityTemp.find(boxVisual), entityTemp.end());
EXPECT_DOUBLE_EQ(600.0, entityTemp[sphereVisual].Kelvin());
// the user specified temp is larger than the max value representable by an
// 8 bit 3 degree resolution camera - this value should be clamped
Expand All @@ -186,20 +191,19 @@ TEST_F(ThermalSensorTest,
EXPECT_DOUBLE_EQ(-10.0, entityTemp[boxVisual].Kelvin());

// Run server
server.Run(true, 35, false);
server.Run(true, 10, false);

// wait for image
bool received = false;
for (unsigned int i = 0; i < 30; ++i)
int sleep{0};
int maxSleep{40};
for (; sleep < maxSleep && !received; ++sleep)
{
{
std::lock_guard<std::mutex> lock(g_mutex);
received = !g_imageMsgs.empty();
}
if (received)
break;
std::this_thread::sleep_for(std::chrono::milliseconds(100));
std::lock_guard<std::mutex> lock(g_mutex);
received = !g_imageMsgs.empty();
}
EXPECT_LT(sleep, maxSleep);
EXPECT_TRUE(received);
ASSERT_NE(nullptr, g_image);

Expand Down