87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class CameraSensor_TEST : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(CameraSensor_TEST, CreateCamera)
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{
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this->Load("worlds/camera.world");
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sensors::SensorManager *mgr = sensors::SensorManager::Instance();
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// Create the camera sensor
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std::string sensorName = "default::camera::link::camera";
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// Get a pointer to the camera sensor
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sensors::CameraSensorPtr sensor =
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std::dynamic_pointer_cast<sensors::CameraSensor>
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(mgr->GetSensor(sensorName));
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// Make sure the above dynamic cast worked.
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EXPECT_TRUE(sensor != NULL);
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EXPECT_TRUE(sensor->IsActive());
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EXPECT_EQ(sensor->ImageWidth(), 320u);
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EXPECT_EQ(sensor->ImageHeight(), 240u);
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EXPECT_FALSE(sensor->Topic().empty());
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// wait for camera images
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int sleep = 0;
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int maxSleep = 20;
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while (sleep < maxSleep && !sensor->ImageData())
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{
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sleep++;
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common::Time::MSleep(100);
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}
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EXPECT_TRUE(sensor->ImageData() != NULL);
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// Remove the sensor
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std::string sensorScopedName = sensor->ScopedName();
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sensors::SensorManager::Instance()->RemoveSensor(sensorScopedName);
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// wait for the sensor to be removed
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sleep = 0;
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while (sensors::SensorManager::Instance()->GetSensor(sensorScopedName)
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&& sleep < maxSleep)
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{
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sleep++;
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common::Time::MSleep(100);
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}
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EXPECT_TRUE(sensors::SensorManager::Instance()->GetSensor(sensorScopedName)
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== NULL);
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// Check that sensor is invalid after being removed.
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EXPECT_EQ(sensor->ImageWidth(), 0u);
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EXPECT_EQ(sensor->ImageHeight(), 0u);
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}
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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