94 lines
2.9 KiB
C++
94 lines
2.9 KiB
C++
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/*
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* Copyright (C) 2012 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 <gtest/gtest.h>
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#include <gazebo/rendering/rendering.hh>
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class Issue346Test : public ServerFixture
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{
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};
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/////////////////////////////////////////////////
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// \brief Test for issue #346
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TEST_F(Issue346Test, SaveLights)
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{
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Load("worlds/empty.world", true);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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std::string spotLightName = "spot_light";
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math::Vector3 spotLightPos(1, 2, 5);
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math::Vector3 spotLightRot(0, 0, 0.5);
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std::string pointLightName = "point_light";
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math::Vector3 pointLightPos(4, 3, 8);
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math::Vector3 pointLightRot(0, 0.8, 0.1);
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// Spawn two lights: one spot light and one point light
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SpawnLight(spotLightName, "spot", spotLightPos, spotLightRot);
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SpawnLight(pointLightName, "point", pointLightPos, pointLightRot);
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boost::filesystem::path pathOut(boost::filesystem::current_path());
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boost::filesystem::create_directories(pathOut /
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boost::filesystem::path("tmp"));
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std::string filenameOut = pathOut.string() +
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"/tmp/346_save_lights.world";
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// Save lights to a world file
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world->Save(filenameOut);
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// Load the saved world file
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sdf::SDFPtr sdf(new sdf::SDF);
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ASSERT_TRUE(sdf::init(sdf));
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ASSERT_TRUE(sdf::readFile(common::find_file(filenameOut), sdf));
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ASSERT_TRUE(sdf->Root() != NULL);
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// Verify there is one spot light and one point light
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int hasSpotLight = 0;
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int hasPointLight = 0;
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sdf::ElementPtr worldElem = sdf->Root()->GetElement("world");
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ASSERT_TRUE(worldElem != NULL);
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sdf::ElementPtr lightElem = worldElem->GetElement("light");
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while (lightElem)
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{
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std::string name = lightElem->Get<std::string>("name");
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math::Pose pose = lightElem->Get<math::Pose>("pose");
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if (name == spotLightName)
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{
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hasSpotLight++;
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EXPECT_TRUE(pose.pos == spotLightPos);
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EXPECT_TRUE(pose.rot == spotLightRot);
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}
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else if (name == pointLightName)
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{
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hasPointLight++;
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EXPECT_TRUE(pose.pos == pointLightPos);
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EXPECT_TRUE(pose.rot == pointLightRot);
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}
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lightElem = lightElem->GetNextElement("light");
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}
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EXPECT_EQ(hasSpotLight, 1);
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EXPECT_EQ(hasPointLight, 1);
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// Remove temp directory
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boost::filesystem::remove_all(pathOut.string() + "/tmp");
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}
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