526 lines
16 KiB
C++
526 lines
16 KiB
C++
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/*
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* Copyright (C) 2016 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/physics/PhysicsTypes.hh"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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#include "test/integration/joint_test.hh"
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using namespace gazebo;
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/// \brief Test removing different worlds.
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class WorldRemoveTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Test removing a blank world.
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/// \param[in] _physicsEngines Physics engine to be tested.
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public: void RemoveBlankWorld(const std::string &_physicsEngine);
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/// \brief Test removing a world which contains models and lights, but no
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/// joints.
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/// \param[in] _physicsEngines Physics engine to be tested.
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public: void RemoveWorldWithEntities(const std::string &_physicsEngine);
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};
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/// \brief Test removing worlds with joints. Inherits from JointTest to make
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/// use of SpawnJoint.
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class WorldRemoveJointsTest : public JointTest
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{
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/// \brief Test removing worlds which contain joints.
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/// \param[in] _physicsEngine Type of physics engine to use.
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/// \param[in] _jointType Type of joint to spawn and test.
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public: void RemoveWorldWithJoint(const std::string &_physicsEngine,
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const std::string &_jointType);
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};
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/////////////////////////////////////////////////
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unsigned int WorldTopicCount(std::map<std::string, std::list<std::string>>
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&_msgTypes)
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{
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unsigned int count = 0;
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for (auto msgType : _msgTypes)
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{
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for (auto topic : msgType.second)
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{
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if (topic.find("/gazebo/default") != std::string::npos)
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{
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count++;
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}
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}
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}
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return count;
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}
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/////////////////////////////////////////////////
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void WorldRemoveTest::RemoveBlankWorld(const std::string &_physicsEngine)
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{
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// Load a blank world
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this->Load("worlds/blank.world", false, _physicsEngine);
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// Give time for everything to be created
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int sleep = 0;
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int maxSleep = 10;
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while (sleep < maxSleep)
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{
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gazebo::common::Time::MSleep(300);
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sleep++;
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}
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// Check there are worlds running
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EXPECT_TRUE(physics::worlds_running());
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// Get world pointer
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auto world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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auto worldPtrCount = world.use_count();
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EXPECT_GT(worldPtrCount, 1);
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// Get physics engine pointer
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auto physicsEngine = world->GetPhysicsEngine();
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ASSERT_TRUE(physicsEngine != nullptr);
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auto physicsEnginePtrCount = physicsEngine.use_count();
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EXPECT_GT(physicsEnginePtrCount, 1);
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// Check advertised topics
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auto msgTypes = gazebo::transport::getAdvertisedTopics();
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EXPECT_FALSE(msgTypes.empty());
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auto worldTopicCount = WorldTopicCount(msgTypes);
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EXPECT_GT(worldTopicCount, 0u);
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// Stats before removing world
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gzmsg << "Stats before removing world:" << std::endl
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<< "- WorldPtr use count: [" << world.use_count() << "]" << std::endl
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<< "- PhysicsEnginePtr use count: [" << physicsEngine.use_count() << "]"
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<< std::endl << "- Topics in this world: [" << worldTopicCount << "]"
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<< std::endl;
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// Remove world
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physics::remove_worlds();
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// Give time for everything to be removed
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sleep = 0;
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while (sleep < maxSleep)
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{
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gazebo::common::Time::MSleep(300);
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sleep++;
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}
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// Check there are no worlds running
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EXPECT_FALSE(physics::worlds_running());
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// Check the only shared pointer left to the physics engine is this one
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EXPECT_LT(physicsEngine.use_count(), physicsEnginePtrCount);
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EXPECT_EQ(physicsEngine.use_count(), 1);
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// Release the last physics engine pointer
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physicsEngine.reset();
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// Check the only pointer left to the world is this one
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EXPECT_LT(world.use_count(), worldPtrCount);
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EXPECT_EQ(world.use_count(), 1);
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// Release the last world pointer
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world.reset();
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// Check we can't get the world pointer
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gzmsg << "Expect exception when trying to get removed world:" << std::endl;
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EXPECT_THROW(world = physics::get_world("default"), common::Exception);
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EXPECT_TRUE(world == nullptr);
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// Check all topics related to that world are gone
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msgTypes = gazebo::transport::getAdvertisedTopics();
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EXPECT_LT(WorldTopicCount(msgTypes), worldTopicCount);
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EXPECT_EQ(WorldTopicCount(msgTypes), 0u);
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// Stats after removing world
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gzmsg << "Stats after removing world:" << std::endl
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<< "- WorldPtr use count: [" << world.use_count() << "]" << std::endl
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<< "- PhysicsEnginePtr use count: [" << physicsEngine.use_count() << "]"
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<< std::endl << "- Topics in this world: [" <<
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WorldTopicCount(msgTypes) << "]" << std::endl;
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}
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/////////////////////////////////////////////////
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void WorldRemoveTest::RemoveWorldWithEntities(const std::string &_physicsEngine)
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{
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// Load a world with entities
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this->Load("worlds/shapes.world", false, _physicsEngine);
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// Give time for everything to be created
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int sleep = 0;
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int maxSleep = 10;
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while (sleep < maxSleep)
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{
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gazebo::common::Time::MSleep(300);
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sleep++;
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}
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// Check there are worlds running
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EXPECT_TRUE(physics::worlds_running());
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// Get world pointer
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auto world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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auto worldPtrCount = world.use_count();
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EXPECT_GT(worldPtrCount, 1);
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// Get physics engine pointer
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auto physicsEngine = world->GetPhysicsEngine();
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ASSERT_TRUE(physicsEngine != nullptr);
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auto physicsEnginePtrCount = physicsEngine.use_count();
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EXPECT_GT(physicsEnginePtrCount, 1);
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// Check advertised topics
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auto msgTypes = gazebo::transport::getAdvertisedTopics();
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EXPECT_FALSE(msgTypes.empty());
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auto worldTopicCount = WorldTopicCount(msgTypes);
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EXPECT_GT(worldTopicCount, 0u);
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// Get model pointers
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std::vector<std::string> modelNames;
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modelNames.push_back("ground_plane");
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modelNames.push_back("box");
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modelNames.push_back("sphere");
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modelNames.push_back("cylinder");
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std::vector<physics::ModelPtr> modelPtrs;
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for (auto &name : modelNames)
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{
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auto model = world->GetModel(name);
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ASSERT_TRUE(model != nullptr);
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modelPtrs.push_back(model);
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}
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// Get light pointers
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std::vector<std::string> lightNames;
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lightNames.push_back("sun");
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std::vector<physics::LightPtr> lightPtrs;
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for (auto &name : lightNames)
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{
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auto light = world->Light(name);
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ASSERT_TRUE(light != nullptr);
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lightPtrs.push_back(light);
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}
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// Stats before removing world
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gzmsg << "Stats before removing world:" << std::endl;
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gzmsg << "- [WorldPtr] use count: [" << world.use_count() << "]"
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<< std::endl;
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gzmsg << "- [PhysicsEnginePtr] use count: [" << physicsEngine.use_count()
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<< "]" << std::endl;
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gzmsg << "- Topics in this world: [" << worldTopicCount << "]"
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<< std::endl;
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for (size_t i = 0; i < modelNames.size(); ++i)
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{
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gzmsg << "- [" << modelNames[i] << "] ptr use count: ["
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<< modelPtrs[i].use_count() << "]" << std::endl;
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}
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for (size_t i = 0; i < lightNames.size(); ++i)
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{
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gzmsg << "- [" << lightNames[i] << "] ptr use count: ["
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<< lightPtrs[i].use_count() << "]" << std::endl;
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}
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// Remove world
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physics::remove_worlds();
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// Give time for everything to be removed
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sleep = 0;
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while (sleep < maxSleep)
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{
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gazebo::common::Time::MSleep(300);
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sleep++;
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}
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// Check there are no worlds running
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EXPECT_FALSE(physics::worlds_running());
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// Check the only shared pointers to entities left are the ones we're holding
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for (auto &ptr : modelPtrs)
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{
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EXPECT_EQ(ptr.use_count(), 1);
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}
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for (auto &ptr : lightPtrs)
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{
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EXPECT_EQ(ptr.use_count(), 1);
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}
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// Release entity pointers
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for (auto &ptr : modelPtrs)
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{
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ptr.reset();
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}
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for (auto &ptr : lightPtrs)
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{
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ptr.reset();
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}
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// Check the only shared pointer left to the physics engine is this one
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EXPECT_LT(physicsEngine.use_count(), physicsEnginePtrCount);
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EXPECT_EQ(physicsEngine.use_count(), 1);
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// Release the last physics engine pointer
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physicsEngine.reset();
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// Check the only pointer left to the world is this one
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EXPECT_LT(world.use_count(), worldPtrCount);
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EXPECT_EQ(world.use_count(), 1);
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// Release the last world pointer
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world.reset();
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// Check we can't get the world pointer
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gzmsg << "Expect exception when trying to get removed world:" << std::endl;
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EXPECT_THROW(world = physics::get_world("default"), common::Exception);
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EXPECT_TRUE(world == nullptr);
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// Check all topics related to that world are gone
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msgTypes = gazebo::transport::getAdvertisedTopics();
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EXPECT_LT(WorldTopicCount(msgTypes), worldTopicCount);
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EXPECT_EQ(WorldTopicCount(msgTypes), 0u);
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// Stats after removing world
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gzmsg << "Stats after removing world:" << std::endl;
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gzmsg << "- WorldPtr use count: [" << world.use_count() << "]"
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<< std::endl;
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gzmsg << "- PhysicsEnginePtr use count: [" << physicsEngine.use_count() << "]"
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<< std::endl;
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gzmsg << "- Topics in this world: [" << WorldTopicCount(msgTypes) << "]"
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<< std::endl;
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for (size_t i = 0; i < modelNames.size(); ++i)
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{
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gzmsg << "- [" << modelNames[i] << "] ptr use count: ["
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<< modelPtrs[i].use_count() << "]" << std::endl;
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}
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for (size_t i = 0; i < lightNames.size(); ++i)
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{
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gzmsg << "- [" << lightNames[i] << "] ptr use count: ["
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<< lightPtrs[i].use_count() << "]" << std::endl;
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}
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}
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/////////////////////////////////////////////////
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TEST_P(WorldRemoveTest, RemoveBlankWorld)
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{
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RemoveBlankWorld(GetParam());
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}
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/////////////////////////////////////////////////
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TEST_P(WorldRemoveTest, RemoveWorldWithEntities)
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{
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RemoveWorldWithEntities(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(WorldRemoveTest, WorldRemoveTest,
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PHYSICS_ENGINE_VALUES);
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/////////////////////////////////////////////////
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void WorldRemoveJointsTest::RemoveWorldWithJoint(
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const std::string &_physicsEngine, const std::string &_jointType)
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{
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gzmsg << "Test joint [" << _jointType << "] engine [" << _physicsEngine
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<< "]" << std::endl;
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// Load an empty world
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this->Load("worlds/empty.world", true, _physicsEngine);
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// Give time for everything to be created
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int sleep = 0;
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int maxSleep = 10;
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while (sleep < maxSleep)
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{
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gazebo::common::Time::MSleep(300);
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sleep++;
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}
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// Check there are worlds running
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EXPECT_TRUE(physics::worlds_running());
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// Spawn a model with a joint
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auto joint = SpawnJoint(_jointType, false, false);
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ASSERT_TRUE(joint != nullptr);
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// Get world pointer
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auto world = physics::get_world("default");
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ASSERT_TRUE(world != nullptr);
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auto worldPtrCount = world.use_count();
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EXPECT_GT(worldPtrCount, 1);
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// Get model pointer
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auto model = world->GetModel("joint_model0");
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ASSERT_TRUE(model != nullptr);
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// Check model has the joint
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EXPECT_EQ(model->GetJointCount(), 1u);
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EXPECT_EQ(joint, model->GetJoint("joint"));
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|
||
|
|
// Get link pointers
|
||
|
|
auto parentLink = model->GetLink("parent");
|
||
|
|
ASSERT_TRUE(parentLink != nullptr);
|
||
|
|
|
||
|
|
auto childLink = model->GetLink("child");
|
||
|
|
ASSERT_TRUE(childLink != nullptr);
|
||
|
|
|
||
|
|
// Get physics engine pointer
|
||
|
|
auto physicsEngine = world->GetPhysicsEngine();
|
||
|
|
ASSERT_TRUE(physicsEngine != nullptr);
|
||
|
|
|
||
|
|
auto physicsEnginePtrCount = physicsEngine.use_count();
|
||
|
|
EXPECT_GT(physicsEnginePtrCount, 1);
|
||
|
|
|
||
|
|
// Check advertised topics
|
||
|
|
auto msgTypes = gazebo::transport::getAdvertisedTopics();
|
||
|
|
EXPECT_FALSE(msgTypes.empty());
|
||
|
|
|
||
|
|
auto worldTopicCount = WorldTopicCount(msgTypes);
|
||
|
|
EXPECT_GT(worldTopicCount, 0u);
|
||
|
|
|
||
|
|
// Stats before removing world
|
||
|
|
gzmsg << "Stats before removing world:" << std::endl
|
||
|
|
<< "- WorldPtr use count: [" << world.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- PhysicsEnginePtr use count: [" << physicsEngine.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- Topics in this world: [" << worldTopicCount << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- model ptr use count: [" << model.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- parent link ptr use count: [" << parentLink.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- childLink ptr use count: [" << childLink.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- joint ptr use count: [" << joint.use_count() << "]"
|
||
|
|
<< std::endl;
|
||
|
|
|
||
|
|
// Remove world
|
||
|
|
physics::remove_worlds();
|
||
|
|
|
||
|
|
// Give time for everything to be removed
|
||
|
|
sleep = 0;
|
||
|
|
while (sleep < maxSleep)
|
||
|
|
{
|
||
|
|
gazebo::common::Time::MSleep(300);
|
||
|
|
sleep++;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Check there are no worlds running
|
||
|
|
EXPECT_FALSE(physics::worlds_running());
|
||
|
|
|
||
|
|
// Check the only shared pointers left are these
|
||
|
|
EXPECT_EQ(model.use_count(), 1) << "Model pointer [" << model << "]";
|
||
|
|
EXPECT_EQ(parentLink.use_count(), 1)
|
||
|
|
<< "Parent link pointer [" << parentLink << "]";
|
||
|
|
EXPECT_EQ(childLink.use_count(), 1)
|
||
|
|
<< "Child link pointer [" << childLink << "]";
|
||
|
|
EXPECT_EQ(joint.use_count(), 1) << "Joint pointer [" << joint << "]";
|
||
|
|
|
||
|
|
// Release pointers
|
||
|
|
model.reset();
|
||
|
|
parentLink.reset();
|
||
|
|
childLink.reset();
|
||
|
|
joint.reset();
|
||
|
|
|
||
|
|
// Check the only shared pointer left to the physics engine is this one
|
||
|
|
EXPECT_LT(physicsEngine.use_count(), physicsEnginePtrCount);
|
||
|
|
EXPECT_EQ(physicsEngine.use_count(), 1);
|
||
|
|
|
||
|
|
// Release the last physics engine pointer
|
||
|
|
physicsEngine.reset();
|
||
|
|
|
||
|
|
// Check the only pointer left to the world is this one
|
||
|
|
EXPECT_LT(world.use_count(), worldPtrCount);
|
||
|
|
EXPECT_EQ(world.use_count(), 1);
|
||
|
|
|
||
|
|
// Release the last world pointer
|
||
|
|
world.reset();
|
||
|
|
|
||
|
|
// Check we can't get the world pointer
|
||
|
|
gzmsg << "Expect exception when trying to get removed world:" << std::endl;
|
||
|
|
EXPECT_THROW(world = physics::get_world("default"), common::Exception);
|
||
|
|
EXPECT_TRUE(world == nullptr);
|
||
|
|
|
||
|
|
// Check all topics related to that world are gone
|
||
|
|
msgTypes = gazebo::transport::getAdvertisedTopics();
|
||
|
|
EXPECT_LT(WorldTopicCount(msgTypes), worldTopicCount);
|
||
|
|
EXPECT_EQ(WorldTopicCount(msgTypes), 0u);
|
||
|
|
|
||
|
|
// Stats after removing world
|
||
|
|
gzmsg << "Stats after removing world:" << std::endl
|
||
|
|
<< "- WorldPtr use count: [" << world.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- PhysicsEnginePtr use count: [" << physicsEngine.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- Topics in this world: [" << WorldTopicCount(msgTypes) << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- model ptr use count: [" << model.use_count() << "]"
|
||
|
|
<< std::endl
|
||
|
|
<< "- joint ptr use count: [" << joint.use_count() << "]"
|
||
|
|
<< std::endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
///////////////////////////////////////////////////
|
||
|
|
TEST_P(WorldRemoveJointsTest, RemoveWorldWithJoint)
|
||
|
|
{
|
||
|
|
if (this->jointType == "gearbox" && this->physicsEngine != "ode")
|
||
|
|
{
|
||
|
|
gzerr << "Skip test, gearbox is only supported in ODE. " <<
|
||
|
|
"See issues: #859, #1914, #1915" << std::endl;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
if (this->physicsEngine == "simbody" && this->jointType == "revolute2")
|
||
|
|
{
|
||
|
|
gzerr << "Skip test, revolute2 not supported in simbody, see issue #859."
|
||
|
|
<< std::endl;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
RemoveWorldWithJoint(this->physicsEngine, this->jointType);
|
||
|
|
}
|
||
|
|
|
||
|
|
INSTANTIATE_TEST_CASE_P(RemoveJointTypes, WorldRemoveJointsTest,
|
||
|
|
::testing::Combine(PHYSICS_ENGINE_VALUES,
|
||
|
|
::testing::Values("revolute"
|
||
|
|
, "prismatic"
|
||
|
|
, "screw"
|
||
|
|
, "universal"
|
||
|
|
, "fixed"
|
||
|
|
, "ball"
|
||
|
|
, "revolute2"
|
||
|
|
, "gearbox")));
|
||
|
|
|
||
|
|
int main(int argc, char **argv)
|
||
|
|
{
|
||
|
|
::testing::InitGoogleTest(&argc, argv);
|
||
|
|
return RUN_ALL_TESTS();
|
||
|
|
}
|
||
|
|
|