pxmlw6n2f/Gazebo_Distributed_MPI/gazebo/gui/LaserVisualization_TEST.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 "gazebo/common/Time.hh"
#include "gazebo/gui/GuiIface.hh"
#include "gazebo/gui/MainWindow.hh"
#include "gazebo/rendering/RenderEvents.hh"
#include "gazebo/gui/LaserVisualization_TEST.hh"
#include "test_config.h"

/////////////////////////////////////////////////
void LaserVisualization_TEST::Lines()
{
  this->resMaxPercentChange = 5.0;
  this->shareMaxPercentChange = 2.0;

  this->Load("worlds/laser_lines_test.world", false, false, false);

  gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
  QVERIFY(mainWindow != NULL);

  // Create the main window.
  mainWindow->Load();
  mainWindow->Init();
  mainWindow->show();

  // Get the user camera and scene
  gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
  QVERIFY(cam != NULL);

  cam->SetCaptureData(true);

  this->ProcessEventsAndDraw(mainWindow);

  // Get camera data
  const unsigned char *data = cam->ImageData();
  unsigned int width = cam->ImageWidth();
  unsigned int height = cam->ImageHeight();
  unsigned int depth = cam->ImageDepth();

  // Make sure there are darker lines in the laser rendering
  int lightBlueCount = 0;
  int darkBlueTransition = 0;

  int rPrev = 0;
  int gPrev = 0;
  int bPrev = 0;

  // Read a horizontal line in the middle of the screen
  unsigned int y = height / 2;
  bool transitioning = false;
  for (unsigned int x = 0; x < width*depth; x += depth)
  {
    int r = data[y*(width*depth) + x];
    int g = data[y*(width*depth) + x+1];
    int b = data[y*(width*depth) + x+2];

    // check if current pixel is blue, prev pixel is also blue
    // and the two shades of blue are different
    if (!transitioning && r == g && r < b && rPrev == gPrev && rPrev < bPrev &&
        r < rPrev)
    {
      ++darkBlueTransition;
      transitioning = true;
    }

    // check if current and prev pixels are the same blue color
    if (r == g && r < b && r == rPrev && g == gPrev && b == bPrev)
    {
      ++lightBlueCount;
      transitioning = false;
    }

    rPrev = r;
    bPrev = b;
    gPrev = g;
  }

  // Make sure there are 2 dark blue lines.
  QVERIFY(darkBlueTransition == 2);

  // Make sure there is a bunch of light blue pixels
  QVERIFY(lightBlueCount > static_cast<int>(width * 0.95));

  mainWindow->close();
  delete mainWindow;
}

/////////////////////////////////////////////////
void LaserVisualization_TEST::Hit()
{
  this->resMaxPercentChange = 5.0;
  this->shareMaxPercentChange = 2.0;

  this->Load("worlds/laser_hit_test.world", false, false, false);

  gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
  QVERIFY(mainWindow != NULL);

  // Create the main window.
  mainWindow->Load();
  mainWindow->Init();
  mainWindow->show();

  // Get the user camera and scene
  gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
  QVERIFY(cam != NULL);

  cam->SetCaptureData(true);

  this->ProcessEventsAndDraw(mainWindow);

  // Get camera data
  const unsigned char *data = cam->ImageData();
  unsigned int width = cam->ImageWidth();
  unsigned int height = cam->ImageHeight();
  unsigned int depth = cam->ImageDepth();

  for (unsigned int y = 0; y < height; ++y)
  {
    for (unsigned int x = 0; x < width*depth; x += depth)
    {
      int r = data[y*(width*depth) + x];
      int g = data[y*(width*depth) + x+1];
      int b = data[y*(width*depth) + x+2];

      // See issue #2027
#if !defined(__APPLE__) || (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
      QVERIFY(r > 118 && r < 126);
      QVERIFY(g > 118 && g < 126);
      QVERIFY(b == 255);
#else
      QVERIFY(r > 29 && r < 33);
      QVERIFY(g > 29 && g < 33);
      QVERIFY(b > 160 && b < 166);
#endif
    }
  }

  mainWindow->close();
  delete mainWindow;
}

/////////////////////////////////////////////////
void LaserVisualization_TEST::Nohit()
{
  this->resMaxPercentChange = 5.0;
  this->shareMaxPercentChange = 2.0;

  this->Load("worlds/laser_nohit_test.world", false, false, false);

  gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
  QVERIFY(mainWindow != NULL);

  // Create the main window.
  mainWindow->Load();
  mainWindow->Init();
  mainWindow->show();

  // Get the user camera and scene
  gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
  QVERIFY(cam != NULL);

  cam->SetCaptureData(true);

  this->ProcessEventsAndDraw(mainWindow);

  // Get camera data
  const unsigned char *data = cam->ImageData();
  unsigned int width = cam->ImageWidth();
  unsigned int height = cam->ImageHeight();
  unsigned int depth = cam->ImageDepth();

  for (unsigned int y = 0; y < height; ++y)
  {
    for (unsigned int x = 0; x < width*depth; x += depth)
    {
      int r = data[y*(width*depth) + x];
      int g = data[y*(width*depth) + x+1];
      int b = data[y*(width*depth) + x+2];

      // See issue #2027
#if !defined(__APPLE__) || (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
      QVERIFY(r > 200 && r < 208);
      QVERIFY(g > 200 && g < 208);
      QVERIFY(b == 255);
#else
      QVERIFY(r > 49 && r < 53);
      QVERIFY(g > 49 && g < 53);
      QVERIFY(b > 100 && b < 104);
#endif
    }
  }

  mainWindow->close();
  delete mainWindow;
}

/////////////////////////////////////////////////
void LaserVisualization_TEST::Deadzone()
{
  this->resMaxPercentChange = 5.0;
  this->shareMaxPercentChange = 2.0;

  this->Load("worlds/laser_deadzone_test.world", false, false, false);

  gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
  QVERIFY(mainWindow != NULL);

  // Create the main window.
  mainWindow->Load();
  mainWindow->Init();
  mainWindow->show();

  // Get the user camera and scene
  gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
  QVERIFY(cam != NULL);

  cam->SetCaptureData(true);

  this->ProcessEventsAndDraw(mainWindow);

  // Get camera data
  const unsigned char *data = cam->ImageData();
  unsigned int width = cam->ImageWidth();
  unsigned int height = cam->ImageHeight();
  unsigned int depth = cam->ImageDepth();

  for (unsigned int y = 0; y < height; ++y)
  {
    for (unsigned int x = 0; x < width*depth; x += depth)
    {
      int r = data[y*(width*depth) + x];
      int g = data[y*(width*depth) + x+1];
      int b = data[y*(width*depth) + x+2];

      // See issue #2027
#if !defined(__APPLE__) || (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
      QVERIFY(r > 124 && r < 132);
      QVERIFY(g > 124 && g < 132);
      QVERIFY(b > 124 && b < 132);
#else
      QVERIFY(r == 0);
      QVERIFY(g == 0);
      QVERIFY(b == 0);
#endif
    }
  }

  mainWindow->close();
  delete mainWindow;
}

// Generate a main function for the test
QTEST_MAIN(LaserVisualization_TEST)