96 lines
2.6 KiB
C++
96 lines
2.6 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 "gazebo/math/Rand.hh"
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#include "gazebo/gui/viewers/LaserView_TEST.hh"
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/////////////////////////////////////////////////
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void LaserView_TEST::Construction()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/ray_test.world");
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// Create a new laser view widget
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gazebo::gui::LaserView *view = new gazebo::gui::LaserView(NULL);
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QVERIFY(view != NULL);
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view->show();
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// Get the frame that holds the images
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QFrame *frame = view->findChild<QFrame*>("blackBorderFrame");
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QVERIFY(frame != NULL);
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view->SetTopic("~/hokuyo/link/laser/scan");
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// Spin the Qt update loop for a while to process events.
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for (int j = 0; j < 50; ++j)
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{
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gazebo::common::Time::MSleep(gazebo::math::Rand::GetIntUniform(10, 50));
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QCoreApplication::processEvents();
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}
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view->hide();
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delete view;
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}
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/////////////////////////////////////////////////
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void LaserView_TEST::Buttons()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/ray_test.world");
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// Create a new laser view widget
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gazebo::gui::LaserView *view = new gazebo::gui::LaserView(NULL);
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QVERIFY(view != NULL);
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view->show();
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view->SetTopic("~/hokuyo/link/laser/scan");
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// Spin the Qt update loop for a while to process events.
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this->ProcessEventsAndDraw(NULL, 50, 10);
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// Get Fit in View button and click it
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QPushButton *pushButton = view->findChild<QPushButton *>();
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QVERIFY(pushButton != NULL);
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pushButton->click();
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// Spin the Qt update loop for a while to process events.
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this->ProcessEventsAndDraw(NULL, 50, 10);
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// Get Degrees radio button and toggle it
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QRadioButton *radioButton = view->findChild<QRadioButton *>();
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QVERIFY(radioButton != NULL);
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radioButton->toggle();
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// Spin the Qt update loop for a while to process events.
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this->ProcessEventsAndDraw(NULL, 50, 10);
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view->hide();
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delete view;
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}
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// Generate a main function for the test
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QTEST_MAIN(LaserView_TEST)
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