98 lines
2.9 KiB
C++
98 lines
2.9 KiB
C++
/*
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* Copyright (C) 2014 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 <boost/filesystem.hpp>
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#include "gazebo/common/KeyEvent.hh"
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#include "gazebo/math/Helpers.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/transport/transport.hh"
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#include "gazebo/gui/Actions.hh"
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/KeyEventHandler.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/gui/GLWidget.hh"
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#include "gazebo/gui/GLWidget_TEST.hh"
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#include "test_config.h"
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bool g_gotBoxSelection = false;
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void OnSelection(ConstSelectionPtr &_msg)
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{
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if (_msg->name() == "box" && _msg->has_selected() && _msg->selected())
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g_gotBoxSelection = true;
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}
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/////////////////////////////////////////////////
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void GLWidget_TEST::SelectObject()
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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/shapes.world", false, false, false);
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gazebo::transport::NodePtr node;
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gazebo::transport::SubscriberPtr sub;
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node = gazebo::transport::NodePtr(new gazebo::transport::Node());
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node->Init();
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sub = node->Subscribe("~/selection", &OnSelection, true);
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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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// Get GLWidget
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gazebo::gui::GLWidget *glWidget =
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mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != NULL);
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// Click in the center of the screen
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QPoint moveTo(glWidget->width()/2, glWidget->height()/2);
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QTest::mouseClick(glWidget, Qt::LeftButton, Qt::NoModifier, moveTo);
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QTest::qWait(500);
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// Verify the box was selected
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QVERIFY(g_gotBoxSelection);
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// Check the selected visuals list
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std::vector<gazebo::rendering::VisualPtr> selectedVisuals =
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glWidget->SelectedVisuals();
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QVERIFY(selectedVisuals.size() == 1u);
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QVERIFY(selectedVisuals[0]->GetName() == "box");
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// Delete the selected object. This is here to make sure the GUI does not
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// segfault if an object is deleted.
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{
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std::string name = selectedVisuals.back()->GetName();
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gazebo::transport::requestNoReply(node, "entity_delete", name);
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this->ProcessEventsAndDraw(mainWindow);
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}
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mainWindow->close();
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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(GLWidget_TEST)
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