94 lines
2.9 KiB
C++
94 lines
2.9 KiB
C++
/*
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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/gui/MainWindow.hh"
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#include "gazebo/gui/ModelManipulator.hh"
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#include "gazebo/rendering/RenderEvents.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/gui/ModelManipulator_TEST.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void ModelManipulator_TEST::Attach()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/empty.world", false, false, false);
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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gazebo::rendering::ScenePtr scene;
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scene = gazebo::rendering::get_scene("default");
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QVERIFY(scene != NULL);
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gazebo::rendering::VisualPtr vis1;
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vis1.reset(new gazebo::rendering::Visual("vis1", scene->WorldVisual()));
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vis1->Load();
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gazebo::rendering::VisualPtr vis2;
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vis2.reset(new gazebo::rendering::Visual("vis2", scene->WorldVisual()));
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vis2->Load();
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// initialize the model manipulator
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gazebo::gui::ModelManipulator::Instance()->Init();
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// attach to visual and verify the visual has one extra child
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QCOMPARE(vis1->GetChildCount(), 0u);
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gazebo::gui::ModelManipulator::Instance()->SetAttachedVisual(vis1);
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QCOMPARE(vis1->GetChildCount(), 1u);
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// detach and verify the child is gone
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gazebo::gui::ModelManipulator::Instance()->Detach();
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QCOMPARE(vis1->GetChildCount(), 0u);
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// attach again to different visual
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QCOMPARE(vis2->GetChildCount(), 0u);
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gazebo::gui::ModelManipulator::Instance()->SetAttachedVisual(vis2);
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QCOMPARE(vis2->GetChildCount(), 1u);
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// attach to another visual without explicitly detaching
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gazebo::gui::ModelManipulator::Instance()->SetAttachedVisual(vis1);
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QCOMPARE(vis1->GetChildCount(), 1u);
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QCOMPARE(vis2->GetChildCount(), 0u);
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// remove vis1 while model manipulator is attached.
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scene->RemoveVisual(vis1);
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vis1.reset();
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QVERIFY(scene->GetVisual("vis1") == NULL);
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// verify we can still attach to vis2
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gazebo::gui::ModelManipulator::Instance()->SetAttachedVisual(vis2);
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QCOMPARE(vis2->GetChildCount(), 1u);
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mainWindow->close();
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delete mainWindow;
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mainWindow = NULL;
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}
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// Generate a main function for the test
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QTEST_MAIN(ModelManipulator_TEST)
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