pxmlw6n2f/Gazebo_Distributed_TCP/test/integration/region_events.cc

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2019-03-28 10:57:49 +08:00
/*
* Copyright (C) 2015 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 "gazebo/test/ServerFixture.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/test/helper_physics_generator.hh"
using namespace gazebo;
// certain tests fail (with the simbody engine
// setting this to true skips those tests
bool SKIP_FAILING_TESTS = true;
// this is the test fixture
class RegionEventTest
: public ServerFixture, public testing::WithParamInterface<const char*>
{
// test if event is triggered when a model enters the region
public: void ModelEnteringRegion(const std::string &_physicsEngine);
// test if event is triggered when a model exits the region
public: void ModelLeavingRegion(const std::string &_physicsEngine);
};
// globals to exchange data between threads
boost::mutex g_mutex;
unsigned int g_event_count = 0;
std::string g_event_data;
std::string g_event_type;
std::string g_event_name;
/////////////////////////////////////////////////
// callback for SimEvent messages
// increment a counter and keep the data around
void ReceiveSimEvent(ConstSimEventPtr &_msg)
{
boost::mutex::scoped_lock lock(g_mutex);
{
g_event_count += 1;
g_event_type = _msg->type();
g_event_name = _msg->name();
g_event_data = _msg->data();
}
}
/////////////////////////////////////////////////
unsigned int GetEventCount()
{
boost::mutex::scoped_lock lock(g_mutex);
{
return g_event_count;
}
}
/////////////////////////////////////////////////
std::string GetEventType()
{
boost::mutex::scoped_lock lock(g_mutex);
{
return g_event_type;
}
}
/////////////////////////////////////////////////
std::string GetEventName()
{
boost::mutex::scoped_lock lock(g_mutex);
{
return g_event_name;
}
}
/////////////////////////////////////////////////
std::string GetEventData()
{
boost::mutex::scoped_lock lock(g_mutex);
{
return g_event_data;
}
}
/////////////////////////////////////////////////
// waits for one or multiple events. if the expected number is
// specified, then the function can return early
unsigned int WaitForNewEvent(unsigned int current,
unsigned int max_tries = 10,
unsigned int ms = 10)
{
for (unsigned int i = 0; i < max_tries; i++)
{
unsigned int count = GetEventCount();
if (count > current)
{
return count;
}
common::Time::MSleep(ms);
}
return GetEventCount();
}
////////////////////////////////////////////////////////////////////////
// ModelEnteringRegion:
// Load test world, move model into event region and verify event.
////////////////////////////////////////////////////////////////////////
void RegionEventTest::ModelEnteringRegion(const std::string &_physicsEngine)
{
// simbody stepTo() failure
if (SKIP_FAILING_TESTS && _physicsEngine != "ode") return;
Load("test/worlds/region_events.world", false, _physicsEngine);
physics::WorldPtr world = physics::get_world();
ASSERT_TRUE(world != NULL);
transport::NodePtr node = transport::NodePtr(new transport::Node());
node->Init();
transport::SubscriberPtr sceneSub = node->Subscribe("/gazebo/sim_events",
&ReceiveSimEvent);
physics::ModelPtr regionEventBox = world->GetModel("RegionEventBox");
ASSERT_TRUE(regionEventBox != NULL);
physics::ModelPtr boxModel = world->GetModel("box");
ASSERT_TRUE(boxModel != NULL);
unsigned int startingCount = GetEventCount();
boxModel->SetWorldPose(regionEventBox->GetWorldPose());
unsigned int endingCount = WaitForNewEvent(startingCount, 10, 100);
ASSERT_GT(endingCount, startingCount);
ASSERT_STREQ("inclusion", GetEventType().c_str());
ASSERT_STREQ("model_in_region_event_box", GetEventName().c_str());
}
////////////////////////////////////////////////////////////////////////
// ModelLeavingRegion:
// Load test world, move model outside of event region and verify event.
////////////////////////////////////////////////////////////////////////
void RegionEventTest::ModelLeavingRegion(const std::string &_physicsEngine)
{
// simbody stepTo() failure
if (SKIP_FAILING_TESTS && _physicsEngine != "ode") return;
Load("test/worlds/region_events.world", false, _physicsEngine);
physics::WorldPtr world = physics::get_world();
ASSERT_TRUE(world != NULL);
transport::NodePtr node = transport::NodePtr(new transport::Node());
node->Init();
transport::SubscriberPtr sceneSub = node->Subscribe("/gazebo/sim_events",
&ReceiveSimEvent);
physics::ModelPtr regionEventBox = world->GetModel("RegionEventBox");
ASSERT_TRUE(regionEventBox != NULL);
physics::ModelPtr boxModel = world->GetModel("box");
ASSERT_TRUE(boxModel != NULL);
math::Pose regionEventBoxPos = regionEventBox->GetWorldPose();
math::Pose boxModelPose = boxModel->GetWorldPose();
boxModel->SetWorldPose(regionEventBox->GetWorldPose());
(void) WaitForNewEvent(GetEventCount(), 10, 100);
unsigned int startingCount = GetEventCount();
{
math::Pose newPose = regionEventBox->GetWorldPose();
newPose.pos.x += 5.0;
newPose.pos.y += 5.0;
boxModel->SetWorldPose(newPose);
}
unsigned int endingCount = WaitForNewEvent(startingCount, 10, 100);
EXPECT_GT(endingCount, startingCount);
EXPECT_STREQ("inclusion", GetEventType().c_str());
EXPECT_STREQ("model_in_region_event_box", GetEventName().c_str());
}
/////////////////////////////////////////////////
TEST_P(RegionEventTest, ModelEnteringRegion)
{
ModelEnteringRegion(GetParam());
}
/////////////////////////////////////////////////
TEST_P(RegionEventTest, ModelLeavingRegion)
{
ModelLeavingRegion(GetParam());
}
// Run all test cases
INSTANTIATE_TEST_CASE_P(PhysicsEngines, RegionEventTest, PHYSICS_ENGINE_VALUES);
/////////////////////////////////////////////////
int main(int argc, char **argv)
{
if (argc > 1)
{
std::string skipStr = argv[1];
if (skipStr == "no_skip")
{
SKIP_FAILING_TESTS = false;
}
}
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}