142 lines
4.3 KiB
C++
142 lines
4.3 KiB
C++
/*
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* Copyright (C) 2015 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/qt.h"
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/gui/building/BuildingEditorEvents.hh"
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#include "gazebo/gui/building/BuildingMaker.hh"
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#include "gazebo/gui/building/BuildingMaker_TEST.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void BuildingMaker_TEST::Attach()
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{
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// Create a building maker
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auto buildingMaker = new gazebo::gui::BuildingMaker();
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QVERIFY(buildingMaker != NULL);
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// Attach a window to a wall
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buildingMaker->AttachManip("window", "wall");
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QVERIFY(buildingMaker->IsAttached("window"));
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QVERIFY(!buildingMaker->IsAttached("wall"));
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QVERIFY(!buildingMaker->IsAttached("door"));
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// Attach a door to a wall
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buildingMaker->AttachManip("door", "wall");
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QVERIFY(buildingMaker->IsAttached("window"));
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QVERIFY(!buildingMaker->IsAttached("wall"));
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QVERIFY(buildingMaker->IsAttached("door"));
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// Detach the window from the wall
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buildingMaker->DetachFromParent("window");
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QVERIFY(!buildingMaker->IsAttached("window"));
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QVERIFY(!buildingMaker->IsAttached("wall"));
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QVERIFY(buildingMaker->IsAttached("door"));
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// Reattach window to the wall
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buildingMaker->AttachManip("window", "wall");
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QVERIFY(buildingMaker->IsAttached("window"));
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QVERIFY(!buildingMaker->IsAttached("wall"));
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QVERIFY(buildingMaker->IsAttached("door"));
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// Detach all of the wall's children
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buildingMaker->DetachAllChildren("wall");
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QVERIFY(!buildingMaker->IsAttached("window"));
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QVERIFY(!buildingMaker->IsAttached("wall"));
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QVERIFY(!buildingMaker->IsAttached("door"));
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delete buildingMaker;
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}
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/////////////////////////////////////////////////
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void BuildingMaker_TEST::Layers()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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// Load an empty world
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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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// Create a building maker
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auto buildingMaker = new gazebo::gui::BuildingMaker();
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QVERIFY(buildingMaker != NULL);
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// Add a wall on each level
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int levelCount = 3;
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for (int i = 0; i < levelCount; ++i)
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{
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// Change level
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gazebo::gui::editor::Events::changeBuildingLevel(i);
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auto wall = buildingMaker->AddWall(QVector3D(1, 1, 1),
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QVector3D(0, 0, i+0.5), 0);
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QVERIFY(wall == "Wall_" + std::to_string(i));
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gzdbg << "Created [" << wall << "]" << std::endl;
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}
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// Generate SDF
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buildingMaker->GenerateSDF();
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auto sdfStr = buildingMaker->ModelSDF();
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sdf::SDF sdf;
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sdf.SetFromString(sdfStr);
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QVERIFY(sdf.Root() != NULL);
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QVERIFY(sdf.Root()->HasElement("model"));
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QVERIFY(sdf.Root()->GetElement("model")->HasElement("link"));
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// Check each level
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int count = 0;
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auto link = sdf.Root()->GetElement("model")->GetElement("link");
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while (link)
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{
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QVERIFY(link != NULL);
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QVERIFY(link->HasAttribute("name"));
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QVERIFY(link->Get<std::string>("name") == "Wall_" + std::to_string(count));
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QVERIFY(link->HasElement("visual"));
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QVERIFY(link->GetElement("visual")->HasElement("meta"));
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QVERIFY(link->GetElement("visual")->GetElement("meta")
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->HasElement("layer"));
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QCOMPARE(link->GetElement("visual")->GetElement("meta")->GetElement("layer")
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->Get<int>(), count);
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gzdbg << "Checked wall [Wall_" << count << "]" << std::endl;
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link = link->GetNextElement("link");
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count++;
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}
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QVERIFY(link == NULL);
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QCOMPARE(count, levelCount);
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delete buildingMaker;
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delete mainWindow;
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}
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// Generate a main function for the test
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QTEST_MAIN(BuildingMaker_TEST)
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