111 lines
2.8 KiB
C++
111 lines
2.8 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/model/LinkInspector.hh"
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#include "gazebo/gui/model/LinkInspector_TEST.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void LinkInspector_TEST::RemoveButton()
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{
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// Create a link inspector
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gazebo::gui::LinkInspector *linkInspector =
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new gazebo::gui::LinkInspector();
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QVERIFY(linkInspector != NULL);
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// Open it
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linkInspector->Open();
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QVERIFY(linkInspector->isVisible());
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// Get buttons
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QList<QToolButton *> toolButtons =
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linkInspector->findChildren<QToolButton *>();
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// 6 tool buttons:
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// show collisions,
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// show visuals,
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// show link frames,
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// remove link,
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// remove visual,
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// remove collision
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QVERIFY(toolButtons.size() == 6);
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QVERIFY(toolButtons[3]->text() == "");
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// Trigger remove
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toolButtons[3]->click();
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// Check link inspector disappeared
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QVERIFY(!linkInspector->isVisible());
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delete linkInspector;
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}
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/////////////////////////////////////////////////
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void LinkInspector_TEST::AppliedSignal()
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{
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// Create a link inspector
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gazebo::gui::LinkInspector *linkInspector =
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new gazebo::gui::LinkInspector();
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QVERIFY(linkInspector != NULL);
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// Connect signals
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connect(linkInspector, SIGNAL(Applied()), this, SLOT(OnApply()));
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// Open it
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linkInspector->Open();
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QVERIFY(linkInspector->isVisible());
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QCOMPARE(g_appliedSignalCount, 0u);
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// Get spins
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QList<QDoubleSpinBox *> spins =
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linkInspector->findChildren<QDoubleSpinBox *>();
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QVERIFY(spins.size() == 19);
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// Get push buttons
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QList<QPushButton *> pushButtons =
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linkInspector->findChildren<QPushButton *>();
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QVERIFY(pushButtons.size() == 5);
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// Edit link pose (13~18)
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spins[18]->setValue(2.0);
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QTest::keyClick(spins[18], Qt::Key_Enter);
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QCOMPARE(g_appliedSignalCount, 1u);
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QVERIFY(linkInspector->isVisible());
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// Reset
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pushButtons[2]->click();
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QCOMPARE(g_appliedSignalCount, 2u);
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QVERIFY(linkInspector->isVisible());
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// Ok
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pushButtons[3]->click();
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QCOMPARE(g_appliedSignalCount, 3u);
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QVERIFY(!linkInspector->isVisible());
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delete linkInspector;
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}
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/////////////////////////////////////////////////
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void LinkInspector_TEST::OnApply()
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{
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g_appliedSignalCount++;
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}
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// Generate a main function for the test
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QTEST_MAIN(LinkInspector_TEST)
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