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pxmlw6n2f/Gazebo_Distributed_TCP/tools/gz_log_TEST.cc

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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <gtest/gtest.h>
#include <boost/lexical_cast.hpp>
#include <boost/algorithm/string/trim.hpp>
#include <gazebo/common/CommonIface.hh>
#include <gazebo/common/Time.hh>
#include <sdf/sdf_config.h>
#include <stdio.h>
#include <string>
// This header file isn't needed if shasums are used
// #include "test/data/pr2_state_log_expected.h"
#include "test_config.h"
#include "gazebo/gazebo_config.h"
std::string custom_exec(std::string _cmd)
{
_cmd += " 2>/dev/null";
FILE* pipe = popen(_cmd.c_str(), "r");
if (!pipe)
return "ERROR";
char buffer[128];
std::string result = "";
while (!feof(pipe))
{
if (fgets(buffer, 128, pipe) != NULL)
result += buffer;
}
pclose(pipe);
return result;
}
/////////////////////////////////////////////////
/// Check to make sure that 'gz log -i' returns correct information
TEST(gz_log, Info)
{
std::string info = custom_exec(std::string("gz log -i -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(info);
std::string validInfo =
"Log Version: 1.0\n"
"Gazebo Version: 1.4.6\n"
"Random Seed: 32606\n"
// "Start: Feb 08 13 05:35:55.667456998\n"
// "End: Feb 08 13 05:35:58.947304437\n"
// "Duration: 00:00:03.279847439\n"
// "Steps: 3\n"
"Size: 12.377 KB\n"
"Encoding: bz2";
// "Model Count: 2";
EXPECT_EQ(validInfo, info);
}
/////////////////////////////////////////////////
/// Check to make sure that 'gz log -e' returns correct information
TEST(gz_log, Echo)
{
std::string echo = custom_exec(std::string("gz log -e -f ") +
PROJECT_SOURCE_PATH + "/test/data/empty_state.log");
boost::trim_right(echo);
std::string validEcho =
"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0"
"</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n"
"<rand_seed>24794</rand_seed>\n<log_start>0 0</log_start>\n"
"<log_end>0 0</log_end>\n</header>\n\n<chunk encoding='txt'>"
"<![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n "
"<light name='sun' type='directional'>\n <cast_shadows>1"
"</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 "
"0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000"
"</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000"
"</specular>\n <attenuation>\n <range>1000.000000</range>\n "
"<constant>0.900000</constant>\n <linear>0.010000</linear>\n "
"<quadratic>0.001000</quadratic>\n </attenuation>\n "
"<direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n "
"<model name='ground_plane'>\n <static>1</static>\n "
"<link name='link'>\n <collision name='collision'>\n "
"<geometry>\n <plane>\n <normal>0.000000 0.000000 "
"1.000000</normal>\n <size>100.000000 100.000000"
"</size>\n </plane>\n </geometry>\n "
"<surface>\n <friction>\n <ode>\n "
"<mu>100.000000</mu>\n <mu2>50.000000</mu2>\n "
"</ode>\n </friction>\n <bounce/>\n "
"<contact>\n <ode/>\n </contact>\n "
"</surface>\n </collision>\n <visual name='visual'>\n "
"<cast_shadows>0</cast_shadows>\n <geometry>\n "
"<plane>\n <normal>0.000000 0.000000 1.000000"
"</normal>\n <size>100.000000 100.000000</size>\n "
"</plane>\n </geometry>\n <material>\n "
"<script>\n <uri>file://media/materials/scripts/gazebo.material"
"</uri>\n <name>Gazebo/Grey</name>\n "
"</script>\n </material>\n </visual>\n "
"<velocity_decay>\n <linear>0.000000</linear>\n "
"<angular>0.000000</angular>\n </velocity_decay>\n "
"<self_collide>0</self_collide>\n <kinematic>0"
"</kinematic>\n <gravity>1</gravity>\n </link>\n "
"</model>\n <physics type='ode'>\n <update_rate>1000.000000"
"</update_rate>\n <gravity>0.000000 0.000000 -9.800000"
"</gravity>\n </physics>\n <scene>\n <ambient>0.200000 0.200000 "
"0.200000 1.000000</ambient>\n <background>0.700000 0.700000 "
"0.700000 1.000000</background>\n <shadows>1</shadows>\n "
"</scene>\n <state world_name='default'>\n <sim_time>0 0"
"</sim_time>\n <real_time>0 0</real_time>\n <wall_time>"
"1360300141 918692496</wall_time>\n </state>\n</world>\n</sdf>]]>"
"</chunk>\n</gazebo_log>";
EXPECT_EQ(validEcho, echo);
}
/////////////////////////////////////////////////
/// Check to make sure that 'gz log -e' returns model and light insertions and
/// deletions
TEST(gz_log, EchoInsertionDeletion)
{
std::string echo = custom_exec(std::string("gz log -e -f ") +
PROJECT_SOURCE_PATH + "/test/logs/insertion_deletion.log");
boost::trim_right(echo);
EXPECT_TRUE(echo.find("<insertions>\n<model") != std::string::npos);
EXPECT_TRUE(echo.find("<insertions>\n<light") != std::string::npos);
EXPECT_TRUE(echo.find("</insertions>") != std::string::npos);
EXPECT_TRUE(echo.find("<deletions>\n<name>unit_box</name>\n</deletions>") !=
std::string::npos);
EXPECT_TRUE(echo.find(
"<deletions>\n<name>user_point_light_0</name>\n</deletions>") !=
std::string::npos);
}
/////////////////////////////////////////////////
/// Check to make sure that 'gz log -e --filter' returns correct information
TEST(gz_log, EchoFilter)
{
std::string echo, shasum;
// Test model filter
echo = custom_exec(
std::string("gz log -e --filter pr2 -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
shasum = gazebo::common::get_sha1<std::string>(echo);
// EXPECT_EQ(pr2StateLog, echo);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "0bf1f293b164bbe820267f970c4b419acdca4b01");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "6ab471e6c410ebe90a939383bd168660ba9019e8");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "da29428454cff7ef3b54115db8cd52b11dc055f9");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
echo = custom_exec(
std::string("gz log -e --filter pr2.pose -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
shasum = gazebo::common::get_sha1<std::string>(echo);
// EXPECT_EQ(pr2PoseStateLog, echo);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "33db2cbd0841466a67abd7d2bbc69cf2cfae19b6");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "739e4454112440e2c1782fff51a1382edf6cfa57");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "37fb8793d2b9358a38f095718817a0de5df0f2d7");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
echo = custom_exec(
std::string("gz log -e --filter pr2.pose.x -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
shasum = gazebo::common::get_sha1<std::string>(echo);
// EXPECT_EQ(pr2PoseXStateLog, echo);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "07113f16d44e2484f769fd1947ff5dca93f55cf4");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "592bbdf6511ea2e76b5225a1d5c13e8a1884c429");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "b112fffb06668852ad11149639e105bfca8d686b");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
echo = custom_exec(
std::string("gz log -e --filter pr2.pose.[x,y] -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
shasum = gazebo::common::get_sha1<std::string>(echo);
// EXPECT_EQ(pr2PoseXYStateLog, echo);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "7f34f3fac505707727a74ac8659bb8736932ab07");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "594de8f16f10ce881fcb5a17ff98ed9847891221");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "2066e0d45ef941cce339e3219b19fe9c4a1b07c9");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
// Test link filter
echo = custom_exec(
std::string("gz log -e --filter pr2/r_upper*.pose -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
shasum = gazebo::common::get_sha1<std::string>(echo);
// EXPECT_EQ(pr2LinkStateLog, echo);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "d52ba4333511b7e4339db3eb71814c73473fba36");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "10beb40e2870ac4cf92e67bd95c19432177a7bce");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "396361aba2155ebd311899050211fd913b3bccce");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
// Test joint filter
echo = custom_exec(
std::string("gz log -e --filter pr2//r_upper_arm_roll_joint -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
shasum = gazebo::common::get_sha1<std::string>(echo);
// EXPECT_EQ(pr2JointStateLog, echo);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "2f689dadc66171a76f7f3400bc218485a923c324");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "25ec9631bd32a9ac5292823e553081375a255399");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "29b572a28f6b83e0c24e8be028c660a58626515c");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
}
/////////////////////////////////////////////////
/// Check to Hz filtering
TEST(gz_log, HzFilter)
{
std::string echo, validEcho;
// Test Hz filter
echo = custom_exec(
std::string("gz log -e -r -z 1.0 --filter pr2.pose.z -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(echo);
validEcho = "-0.000008";
EXPECT_EQ(validEcho, echo);
// Test zero Hz filter
echo = custom_exec(
std::string("gz log -e -r -z 0 --filter pr2.pose.z -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(echo);
validEcho = "-0.000008 \n-0.000015";
EXPECT_EQ(validEcho, echo);
// Test negative Hz filter
echo = custom_exec(
std::string("gz log -e -r -z -1.0 --filter pr2.pose.z -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(echo);
validEcho = "-0.000008 \n-0.000015";
EXPECT_EQ(validEcho, echo);
}
/////////////////////////////////////////////////
/// Check to raw filtering with time stamps
TEST(gz_log, RawFilterStamp)
{
std::string echo, validEcho;
// Sim time
echo = custom_exec(
std::string("gz log --echo -r --stamp sim --filter pr2.pose.x -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(echo);
validEcho = "0.021344 0.000000 \n0.028958 0.000000";
EXPECT_EQ(validEcho, echo);
// Real time
echo = custom_exec(
std::string("gz log --echo -r --stamp real --filter pr2.pose.x -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(echo);
validEcho = "0.001000 0.000000 \n0.002000 0.000000";
EXPECT_EQ(validEcho, echo);
// Wall time
echo = custom_exec(
std::string("gz log --echo -r --stamp wall --filter pr2.pose.x -f ") +
PROJECT_SOURCE_PATH + "/test/data/pr2_state.log");
boost::trim_right(echo);
validEcho = std::string("1360301758.939690 0.000000 \n")
+ std::string("1360301758.947304 0.000000");
EXPECT_EQ(validEcho, echo);
}
/////////////////////////////////////////////////
/// Check to make sure that 'gz log -s' returns correct information
TEST(gz_log, Step)
{
std::string stepCmd, shasum;
stepCmd = std::string("gz log -s -f ") + PROJECT_SOURCE_PATH +
std::string("/test/data/pr2_state.log");
// Call gz log step and press q immediately
std::string stepq0 = custom_exec(std::string("echo 'q' | ") + stepCmd);
shasum = gazebo::common::get_sha1<std::string>(stepq0);
EXPECT_EQ(shasum, "81ceefcf3f81169cc9baf98f463469db242d9534");
// Call gz log step and press space once, then q
std::string stepq1 = custom_exec(std::string("echo ' q' | ") + stepCmd);
shasum = gazebo::common::get_sha1<std::string>(stepq1);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "43eacb140e00ef0525d54667bc558d63dac3d21f");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "cc55bc387eec68fc2b2aef70bfb7372a2706a6dc");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "414d50cf03c3650c112062a90a8c87acccbab893");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
// Call gz log step and press space twice, then q
std::string stepq2 = custom_exec(std::string("echo ' q' | ") + stepCmd);
shasum = gazebo::common::get_sha1<std::string>(stepq2);
if (std::string("1.4").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "37e133d15d3f74cbc686bfceb26b8db46e2f6bf5");
else if (std::string("1.5").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "37934b37eb4e2e7d88ed764c296232124c8a38ab");
else if (std::string("1.6").compare(SDF_VERSION) == 0)
EXPECT_EQ(shasum, "c713b28ea4da6a7a9750aba1d9e65c12756ce026");
else
FAIL() << "Please add support for sdf version: " << SDF_VERSION;
}
/////////////////////////////////////////////////
TEST(gz_log, HangCheck)
{
gazebo::common::Time start = gazebo::common::Time::GetWallTime();
custom_exec("gz log -r 0");
gazebo::common::Time end = gazebo::common::Time::GetWallTime();
EXPECT_LT(end - start, gazebo::common::Time(60, 0));
}
/////////////////////////////////////////////////
/// Main
int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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