317 lines
9.4 KiB
C++
317 lines
9.4 KiB
C++
/*
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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 "gazebo/gui/TimeWidget.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/gui/RenderWidget.hh"
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/Actions.hh"
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#include "gazebo/rendering/UserCamera.hh"
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#include "gazebo/gui/TimeWidget_TEST.hh"
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/////////////////////////////////////////////////
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void TimeWidget_TEST::Reset()
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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("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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// Wait a little bit so that time increases.
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this->ProcessEventsAndDraw(NULL, 10, 100);
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// Get the time panel
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gazebo::gui::TimePanel *timePanel = mainWindow->RenderWidget()->
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GetTimePanel();
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QVERIFY(timePanel != NULL);
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// Get the time widget
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gazebo::gui::TimeWidget *timeWidget =
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timePanel->findChild<gazebo::gui::TimeWidget *>("timeWidget");
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QVERIFY(timeWidget != NULL);
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timeWidget->setVisible(true);
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// Get the sim time line edit
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QLineEdit *simTimeEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetSimTime");
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QVERIFY(simTimeEdit != NULL);
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// Get the real time line edit
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QLineEdit *realTimeEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetRealTime");
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QVERIFY(realTimeEdit != NULL);
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QLineEdit *iterationsEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetIterations");
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QVERIFY(iterationsEdit != NULL);
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std::string txt;
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double value;
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// Make sure real time is greater than zero
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txt = realTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(value > 0.0);
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// Make sure sim time is greater than zero
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txt = simTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(value > 0.0);
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// Make sure iteration is greater than zero
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txt = iterationsEdit->text().toStdString();
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int intValue = boost::lexical_cast<int>(txt);
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QVERIFY(intValue > 0);
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// verify reset action is not null
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QVERIFY(gazebo::gui::g_resetWorldAct != NULL);
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QVERIFY(gazebo::gui::g_resetWorldAct->isEnabled());
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QVERIFY(!mainWindow->IsPaused());
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// pause the world before resetting
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mainWindow->Pause();
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this->ProcessEventsAndDraw(mainWindow);
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QVERIFY(mainWindow->IsPaused());
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// trigger reset world
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gazebo::gui::g_resetWorldAct->trigger();
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this->ProcessEventsAndDraw(mainWindow);
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// Make sure real time is zero
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txt = realTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(ignition::math::equal(value, 0.0));
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// Make sure sim time is zero
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txt = simTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(ignition::math::equal(value, 0.0));
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// Make sure iteration is zero
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txt = iterationsEdit->text().toStdString();
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intValue = boost::lexical_cast<int>(txt);
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QCOMPARE(intValue, 0);
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// play the simulation and again and verify time increases
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mainWindow->Play();
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this->ProcessEventsAndDraw(mainWindow);
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QVERIFY(!mainWindow->IsPaused());
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// Wait a little bit so that time increases.
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this->ProcessEventsAndDraw(NULL, 10, 100);
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// Make sure real time is greater than zero
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txt = realTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(value > 0.0);
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// Make sure sim time is greater than zero
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txt = simTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(value > 0.0);
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// Make sure iteration is greater than zero
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txt = iterationsEdit->text().toStdString();
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intValue = boost::lexical_cast<int>(txt);
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QVERIFY(intValue > 0);
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mainWindow->close();
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delete mainWindow;
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}
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/////////////////////////////////////////////////
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void TimeWidget_TEST::ValidTimes()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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QBENCHMARK
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{
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this->Load("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::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != NULL);
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// Get the time panel
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gazebo::gui::TimePanel *timePanel = mainWindow->RenderWidget()->
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GetTimePanel();
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QVERIFY(timePanel != NULL);
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// Get the time widget
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gazebo::gui::TimeWidget *timeWidget =
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timePanel->findChild<gazebo::gui::TimeWidget *>("timeWidget");
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QVERIFY(timeWidget != NULL);
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timeWidget->setVisible(true);
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// Get the percent real time line
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QLineEdit *percentEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetPercentRealTime");
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QVERIFY(percentEdit != NULL);
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// Get the sim time line
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QLineEdit *simTimeEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetSimTime");
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QVERIFY(simTimeEdit != NULL);
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// Get the real time line
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QLineEdit *realTimeEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetRealTime");
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QVERIFY(realTimeEdit != NULL);
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// Get the fps line
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QLineEdit *fpsEdit = timeWidget->findChild<QLineEdit *>("timeWidgetFPS");
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QVERIFY(fpsEdit != NULL);
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// some machines are unable to hit the target FPS
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// sample update time and determine whether to skip FPS lower bound check
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bool skipFPSTest = false;
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gazebo::common::Time t = gazebo::common::Time::GetWallTime();
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QCoreApplication::processEvents();
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double dt = (gazebo::common::Time::GetWallTime()-t).Double();
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if (dt >= 0.01)
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{
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std::cerr << "Skipping lower bound FPS check" << std::endl;
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skipFPSTest = true;
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}
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unsigned int iterations = skipFPSTest ? 500 : 5000;
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double lowerFPSBound = skipFPSTest ? 0 : 45;
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// Wait a little bit so that time increases.
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this->ProcessEventsAndDraw(NULL, iterations, 1);
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std::string txt;
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double value;
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// Make sure real time is greater than zero
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txt = realTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(value > 0.0);
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// Make sure sim time is greater than zero
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txt = simTimeEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(txt.find(".")));
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QVERIFY(value > 0.0);
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// Make sure the percent real time is greater than zero
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txt = percentEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(0, txt.find(" ")));
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QVERIFY(value > 0.0);
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// Make sure the fps is somewhere close to 60 fps
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txt = fpsEdit->text().toStdString();
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value = boost::lexical_cast<double>(txt.substr(0, txt.find(" ")));
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QVERIFY(value > lowerFPSBound);
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QVERIFY(value < 75.0);
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cam->Fini();
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mainWindow->close();
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delete mainWindow;
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}
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}
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/////////////////////////////////////////////////
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void TimeWidget_TEST::Visibility()
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{
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this->Load("empty.world");
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// Create a new time widget
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gazebo::gui::TimeWidget *timeWidget = new gazebo::gui::TimeWidget;
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timeWidget->setVisible(true);
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QVERIFY(timeWidget->isVisible());
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// Get the percent real time line
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QLineEdit *percentEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetPercentRealTime");
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// Get the sim time line
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QLineEdit *simTimeEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetSimTime");
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// Get the real time line
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QLineEdit *realTimeEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetRealTime");
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// Get the step button
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QAction *stepButton = timeWidget->findChild<QAction *>(
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"timeWidgetStepAction");
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QLineEdit *iterationsEdit = timeWidget->findChild<QLineEdit *>(
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"timeWidgetIterations");
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// visible by default
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QVERIFY(percentEdit->isVisible());
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QVERIFY(simTimeEdit->isVisible());
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QVERIFY(realTimeEdit->isVisible());
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QVERIFY(stepButton->isVisible());
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QVERIFY(iterationsEdit->isVisible());
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// hide the widgets
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timeWidget->ShowRealTimeFactor(false);
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timeWidget->ShowSimTime(false);
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timeWidget->ShowRealTime(false);
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timeWidget->ShowStepWidget(false);
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timeWidget->ShowIterations(false);
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QVERIFY(!percentEdit->isVisible());
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QVERIFY(!simTimeEdit->isVisible());
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QVERIFY(!realTimeEdit->isVisible());
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QVERIFY(!stepButton->isVisible());
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QVERIFY(!iterationsEdit->isVisible());
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// show the widgets again
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timeWidget->ShowRealTimeFactor(true);
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timeWidget->ShowSimTime(true);
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timeWidget->ShowRealTime(true);
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timeWidget->ShowStepWidget(true);
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timeWidget->ShowIterations(true);
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QVERIFY(percentEdit->isVisible());
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QVERIFY(simTimeEdit->isVisible());
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QVERIFY(realTimeEdit->isVisible());
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QVERIFY(stepButton->isVisible());
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QVERIFY(iterationsEdit->isVisible());
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delete timeWidget;
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}
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// Generate a main function for the test
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QTEST_MAIN(TimeWidget_TEST)
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