pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/gui/LightMaker_TEST.cc

187 lines
5.7 KiB
C++

/*
* 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/MouseEvent.hh"
#include "gazebo/gui/MainWindow.hh"
#include "gazebo/gui/GuiIface.hh"
#include "gazebo/gui/GuiEvents.hh"
#include "gazebo/gui/LightMaker.hh"
#include "gazebo/gui/LightMaker_TEST.hh"
/////////////////////////////////////////////////
void LightMaker_TEST::PointLight()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;
this->Load("worlds/empty.world", false, false, false);
// Create the main window.
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);
mainWindow->Load();
mainWindow->Init();
mainWindow->show();
this->ProcessEventsAndDraw(mainWindow);
// Get scene
gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
QVERIFY(scene != NULL);
// Check there's no light in the scene yet
gazebo::rendering::LightPtr light = scene->GetLight("__default__");
QVERIFY(light == NULL);
light = scene->GetLight("user_point_light_0");
QVERIFY(light == NULL);
// Create a pointLight maker
gazebo::gui::PointLightMaker *pointLightMaker =
new gazebo::gui::PointLightMaker();
QVERIFY(pointLightMaker != NULL);
// Start the maker to make a light
pointLightMaker->Start();
// Check there's a light in the scene -- this is the preview
light = scene->GetLight("__default__");
QVERIFY(light != NULL);
// Check that the light appeared in the center of the screen
ignition::math::Vector3d startPos = pointLightMaker->EntityPosition();
QVERIFY(startPos == ignition::math::Vector3d::UnitZ);
QVERIFY(light->Position() == startPos);
// Mouse move
gazebo::common::MouseEvent mouseEvent;
mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
pointLightMaker->OnMouseMove(mouseEvent);
// Check that entity moved
ignition::math::Vector3d pos = pointLightMaker->EntityPosition();
QVERIFY(pos != startPos);
QVERIFY(light->Position() == pos);
// Mouse release
mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
mouseEvent.SetDragging(false);
mouseEvent.SetPressPos(0, 0);
mouseEvent.SetPos(0, 0);
pointLightMaker->OnMouseRelease(mouseEvent);
// Check there's no light in the scene -- the preview is gone
light = scene->GetLight("__default__");
QVERIFY(light == NULL);
light = scene->GetLight("user_point_light");
QVERIFY(light == NULL);
this->ProcessEventsAndDraw(mainWindow);
// Check there's a light in the scene -- this is the final pointLight
light = scene->GetLight("user_point_light_0");
QVERIFY(light != NULL);
// Terminate
mainWindow->close();
delete mainWindow;
}
/////////////////////////////////////////////////
void LightMaker_TEST::CopyLight()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;
this->Load("worlds/spotlight.world", false, false, false);
// Create the main window.
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);
mainWindow->Load();
mainWindow->Init();
mainWindow->show();
this->ProcessEventsAndDraw(mainWindow);
// Get scene
gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
QVERIFY(scene != NULL);
// Check there's a light but no clone in the scene yet
gazebo::rendering::LightPtr light = scene->GetLight("spotlight");
QVERIFY(light != NULL);
light = scene->GetLight("spotlight_clone_tmp");
QVERIFY(light == NULL);
light = scene->GetLight("spotlight_clone");
QVERIFY(light == NULL);
// Create a generic light maker
gazebo::gui::LightMaker *lightMaker = new gazebo::gui::LightMaker();
QVERIFY(lightMaker != NULL);
// Start the maker to copy the light
lightMaker->InitFromLight("spotlight");
lightMaker->Start();
// Check there's a light in the scene -- this is the preview
light = scene->GetLight("spotlight_clone_tmp");
QVERIFY(light != NULL);
// Check that the light appeared in the center of the screen
ignition::math::Vector3d startPos = lightMaker->EntityPosition();
QVERIFY(startPos == ignition::math::Vector3d::UnitZ);
QVERIFY(light->Position() == startPos);
// Mouse move
gazebo::common::MouseEvent mouseEvent;
mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
lightMaker->OnMouseMove(mouseEvent);
// Check that entity moved
ignition::math::Vector3d pos = lightMaker->EntityPosition();
QVERIFY(pos != startPos);
QVERIFY(light->Position() == pos);
// Mouse release
mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
mouseEvent.SetDragging(false);
mouseEvent.SetPressPos(0, 0);
mouseEvent.SetPos(0, 0);
lightMaker->OnMouseRelease(mouseEvent);
// Check there's no light in the scene -- the preview is gone
light = scene->GetLight("spotlight_clone_tmp");
QVERIFY(light == NULL);
this->ProcessEventsAndDraw(mainWindow);
// Check there's a light in the scene -- this is the final light
light = scene->GetLight("spotlight_clone");
QVERIFY(light != NULL);
// Terminate
mainWindow->close();
delete mainWindow;
}
// Generate a main function for the test
QTEST_MAIN(LightMaker_TEST)