155 lines
4.4 KiB
C++
155 lines
4.4 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 <limits>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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// certain tests fail (with the symbody engine
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// setting this to true skips those tests
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bool SKIP_FAILING_TESTS = true;
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// this is the test fixture
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class RestWebTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void FirstTest(const std::string &_physicsEngine);
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};
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// globals to exchange data between threads
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boost::mutex g_mutex;
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unsigned int g_count;
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unsigned int g_restID;
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// RestLogin: string url, username, password
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// RestResponse: string type, msg
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// RestPost: string route, json
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//////////////////////////////////////////////////
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// callback for SimEvent messages
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// increment a counter and keep the data around
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void ReceiveRestError(ConstRestResponsePtr &_msg)
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{
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gzmsg << "ReceiveRestResponse:" << std::endl;
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gzmsg << " \"" << _msg->msg() << "\"" << std::endl;
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boost::mutex::scoped_lock lock(g_mutex);
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if (!_msg->has_id())
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return;
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EXPECT_EQ(_msg->id(), g_restID);
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EXPECT_EQ(_msg->type(), msgs::RestResponse::ERROR);
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EXPECT_FALSE(_msg->msg().empty());
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g_count += 1;
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}
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//////////////////////////////////////////////////
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// get the count in a thread safe way
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unsigned int GetErrorCount()
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{
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boost::mutex::scoped_lock lock(g_mutex);
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return g_count;
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}
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//////////////////////////////////////////////////
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// waits for one or multiple events. if the expected number is
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// specified, then the function can return early
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unsigned int WaitForNewError(unsigned int current,
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unsigned int maxTries = 20,
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unsigned int ms = 100)
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{
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gzmsg << "WaitForNewError " << current << std::endl;
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for (unsigned int i = 0; i < maxTries; ++i)
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{
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unsigned int count = GetErrorCount();
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if (count > current)
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{
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return count;
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}
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common::Time::MSleep(ms);
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}
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gzmsg << "WaitForNewError (timeout)" << std::endl;
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return GetErrorCount();
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}
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//////////////////////////////////////////////////
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// test macro
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TEST_P(RestWebTest, FirstTest)
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{
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FirstTest(GetParam());
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}
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//////////////////////////////////////////////////
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// SimPauseRun:
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// Load test world, publish login and post messages
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//////////////////////////////////////////////////
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void RestWebTest::FirstTest(const std::string &_physicsEngine)
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{
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Load("test/worlds/rest_web.world",
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false,
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_physicsEngine,
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{"libRestWebPlugin.so"});
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physics::WorldPtr world = physics::get_world("default");
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// setup the callback that increments a counter each time a
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// RestError is emitted.
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transport::NodePtr node = transport::NodePtr(new transport::Node());
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node->Init();
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transport::SubscriberPtr sub = node->Subscribe("/gazebo/rest/rest_response",
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&ReceiveRestError);
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// check that after pause, we have received a new event
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unsigned int count_before = GetErrorCount();
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// publish to the login topic
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gazebo::transport::PublisherPtr pub;
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pub = node->Advertise<gazebo::msgs::RestLogin>("/gazebo/rest/rest_login");
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pub->WaitForConnection();
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gazebo::msgs::RestLogin msg;
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g_restID = 12345;
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msg.set_id(g_restID);
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msg.set_url("https://localhost:3000");
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msg.set_username("myuser");
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msg.set_password("mypass");
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pub->Publish(msg);
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// since this test does not expect a server to be running (yet), we should
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// receive a rest_response via our sub
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// wait for it ...
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unsigned int count_after = WaitForNewError(count_before);
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EXPECT_GT(count_after, count_before);
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, RestWebTest, PHYSICS_ENGINE_VALUES);
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// main, where we can specify to skip certain tests
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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