100 lines
3.1 KiB
C++
100 lines
3.1 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/test/ServerFixture.hh"
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#include "gazebo/msgs/msgs.hh"
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using namespace gazebo;
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// this is the test fixture
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class TransporterTest : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(TransporterTest, Transport)
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{
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this->Load("worlds/transporter_test.world");
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// Get the world
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// Get the box model
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physics::ModelPtr boxModel = world->GetModel("box");
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ASSERT_TRUE(boxModel != NULL);
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// Make sure the starting location is correct.
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EXPECT_NEAR(boxModel->GetWorldPose().pos.x, 10.0, 1e-3);
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EXPECT_NEAR(boxModel->GetWorldPose().pos.y, 10.0, 1e-3);
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// Move the box onto the auto transport pad
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boxModel->SetWorldPose(math::Pose(100.5, 0, 0.5, 0, 0, 0));
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common::Time::Sleep(common::Time(1, 0));
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// Check that the box transported to the correct location
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EXPECT_NEAR(boxModel->GetWorldPose().pos.x, 0.0, 1e-3);
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EXPECT_NEAR(boxModel->GetWorldPose().pos.y, 0.0, 1e-3);
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// Move the box away
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boxModel->SetWorldPose(math::Pose(10, 10, 0.5, 0, 0, 0));
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common::Time::Sleep(common::Time(1, 0));
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// Check that the box is in the correct location
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EXPECT_NEAR(boxModel->GetWorldPose().pos.x, 10.0, 1e-3);
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EXPECT_NEAR(boxModel->GetWorldPose().pos.y, 10.0, 1e-3);
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// Move the box to the manual transporter pad
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boxModel->SetWorldPose(math::Pose(-100.5, 0, 0.5, 0, 0, 0));
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common::Time::Sleep(common::Time(1, 0));
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// Check that the box is in the correct location
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EXPECT_NEAR(boxModel->GetWorldPose().pos.x, -100.5, 1e-3);
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EXPECT_NEAR(boxModel->GetWorldPose().pos.y, 0, 1e-3);
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// Trigger the transporter
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{
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// Create our node for communication
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gazebo::transport::NodePtr node(new gazebo::transport::Node());
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node->Init();
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// Publish to a Gazebo topic
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gazebo::transport::PublisherPtr pub =
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node->Advertise<gazebo::msgs::GzString>("~/transporter");
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// Wait for a subscriber to connect
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pub->WaitForConnection();
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// Convert to a pose message
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gazebo::msgs::GzString msg;
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msg.set_data("pad2");
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pub->Publish(msg);
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}
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common::Time::Sleep(common::Time(1, 0));
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// Check that the box transported to the correct location
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EXPECT_NEAR(boxModel->GetWorldPose().pos.x, 0, 1e-3);
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EXPECT_NEAR(boxModel->GetWorldPose().pos.y, 0, 1e-3);
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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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