pxmlw6n2f/Gazebo_Distributed_TCP/test/integration/rest_web.cc

/*
 * 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 <limits>

#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 symbody engine
// setting this to true skips those tests
bool SKIP_FAILING_TESTS = true;

// this is the test fixture
class RestWebTest : public ServerFixture,
                      public testing::WithParamInterface<const char*>
{
  public: void FirstTest(const std::string &_physicsEngine);
};

// globals to exchange data between threads
boost::mutex g_mutex;
unsigned int g_count;
unsigned int g_restID;

// RestLogin: string url, username, password
// RestResponse: string type, msg
// RestPost:  string route, json


//////////////////////////////////////////////////
// callback for SimEvent messages
// increment a counter and keep the data around
void ReceiveRestError(ConstRestResponsePtr &_msg)
{
  gzmsg << "ReceiveRestResponse:" << std::endl;
  gzmsg << "    \""  << _msg->msg() << "\"" << std::endl;
  boost::mutex::scoped_lock lock(g_mutex);

  if (!_msg->has_id())
    return;

  EXPECT_EQ(_msg->id(), g_restID);
  EXPECT_EQ(_msg->type(), msgs::RestResponse::ERROR);
  EXPECT_FALSE(_msg->msg().empty());

  g_count += 1;
}

//////////////////////////////////////////////////
// get the count in a thread safe way
unsigned int GetErrorCount()
{
  boost::mutex::scoped_lock lock(g_mutex);
  return g_count;
}

//////////////////////////////////////////////////
// waits for one or multiple events. if the expected number is
// specified, then the function can return early
unsigned int WaitForNewError(unsigned int current,
                             unsigned int maxTries = 20,
                             unsigned int ms = 100)
{
  gzmsg << "WaitForNewError " << current << std::endl;
  for (unsigned int i = 0; i < maxTries; ++i)
  {
    unsigned int count = GetErrorCount();
    if (count > current)
    {
      return count;
    }
    common::Time::MSleep(ms);
  }
  gzmsg << "WaitForNewError (timeout)" << std::endl;
  return GetErrorCount();
}

//////////////////////////////////////////////////
// test macro
TEST_P(RestWebTest, FirstTest)
{
  FirstTest(GetParam());
}

//////////////////////////////////////////////////
// SimPauseRun:
// Load test world, publish login and post messages
//////////////////////////////////////////////////
void RestWebTest::FirstTest(const std::string &_physicsEngine)
{
  Load("test/worlds/rest_web.world",
       false,
       _physicsEngine,
       {"libRestWebPlugin.so"});
  physics::WorldPtr world = physics::get_world("default");

  // setup the callback that increments a counter each time a
  // RestError is emitted.
  transport::NodePtr node = transport::NodePtr(new transport::Node());
  node->Init();

  transport::SubscriberPtr sub = node->Subscribe("/gazebo/rest/rest_response",
      &ReceiveRestError);

  // check that after pause, we have received a new event
  unsigned int count_before = GetErrorCount();

  // publish to the login topic
  gazebo::transport::PublisherPtr pub;
  pub = node->Advertise<gazebo::msgs::RestLogin>("/gazebo/rest/rest_login");
  pub->WaitForConnection();

  gazebo::msgs::RestLogin msg;
  g_restID = 12345;
  msg.set_id(g_restID);
  msg.set_url("https://localhost:3000");
  msg.set_username("myuser");
  msg.set_password("mypass");
  pub->Publish(msg);

  // since this test does not expect a server to be running (yet), we should
  // receive a rest_response via our sub

  // wait for it ...
  unsigned int count_after = WaitForNewError(count_before);
  EXPECT_GT(count_after, count_before);
}

INSTANTIATE_TEST_CASE_P(PhysicsEngines, RestWebTest, PHYSICS_ENGINE_VALUES);

// main, where we can specify to skip certain tests
int main(int argc, char **argv)
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}