115 lines
3.2 KiB
C++
115 lines
3.2 KiB
C++
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/*
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* Copyright (C) 2018 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 <unistd.h>
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#include <gazebo/util/LogRecord.hh>
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#include <gazebo/util/LogPlay.hh>
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#include <gazebo/test/ServerFixture.hh>
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using namespace gazebo;
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class Issue2428_Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// This test checks that the following steps work:
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//
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// 1. run Gazebo
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// 2. Insert some models, at least one of them should move
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// 3. Record a log
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// 4. Stop record
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// 5. The log file should have the inserted model inside the
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// <world>...</world> block.
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TEST_F(Issue2428_Test, InsertionBeforeRecording)
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{
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// Create a temporary directory
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char dirTemplate[] ="/tmp/gazeboXXXXXX";
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std::string tmpDir = mkdtemp(dirTemplate);
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util::LogRecord *recorder = util::LogRecord::Instance();
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recorder->Init("test");
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// Playback the state log
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this->Load("worlds/empty.world", true);
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// Get a pointer to the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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// take some steps before inserting model to avoid issue #2297
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world->Step(100);
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std::string modelString =
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"<sdf version='1.6'>"
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" <model name='box'>"
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" <pose>0 0 10 0 0 0</pose>"
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" <link name='link'>"
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" <collision name='collision'>"
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" <geometry><box><size>1 1 1</size></box></geometry>"
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" </collision>"
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" <visual name='visual'>"
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" <geometry><box><size>1 1 1</size></box></geometry>"
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" </visual>"
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" </link>"
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" </model>"
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"</sdf>";
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// Insert a model before recording starts
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world->InsertModelString(modelString);
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world->Step(100);
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recorder->Start("txt", tmpDir);
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// Step the world enough iterations to guarantee that the <insertions> is
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// recorded in the log file.
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world->Step(200);
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std::string filename = recorder->Filename();
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// Stop recording
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recorder->Stop();
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recorder->Fini();
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// Open the log file
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util::LogPlay *player = util::LogPlay::Instance();
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player->Open(filename);
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std::string data;
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player->Step(data);
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size_t worldStart = data.find("<world name='default'>");
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size_t boxPos = data.find("<model name='box'>");
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size_t worldEnd = data.find("</world>");
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// The box model should exist in the initial world.
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EXPECT_LT(worldStart, boxPos);
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EXPECT_GT(worldEnd, boxPos);
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EXPECT_NE(boxPos, std::string::npos);
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// Cleanup the directory
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remove(filename.c_str());
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rmdir(tmpDir.c_str());
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}
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/////////////////////////////////////////////////
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// Main
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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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